ksys/phys: Add RagdollController (the real one, not RagdollInstance)

lib/hkStubs/CMakeLists.txt

@@ -12,6 +12,8 @@ add_library(hkStubs OBJECT
   Havok/Animation/Animation/Rig/hkaBoneAttachment.h
   Havok/Animation/Animation/Rig/hkaSkeleton.h
   Havok/Animation/Animation/Rig/hkaPose.h
+  Havok/Animation/Physics2012Bridge/Controller/RigidBody/hkaKeyFrameHierarchyUtility.h
+  Havok/Animation/Physics2012Bridge/Controller/RigidBody/hkaRagdollRigidBodyController.h
   Havok/Animation/Physics2012Bridge/Instance/hkaRagdollInstance.h
 
   Havok/Common/Base/hkBase.h

lib/hkStubs/Havok/Animation/Physics2012Bridge/Controller/RigidBody/hkaKeyFrameHierarchyUtility.h

@@ -0,0 +1,82 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+
+class hkpRigidBody;
+
+class hkaKeyFrameHierarchyUtility {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkaKeyFrameHierarchyUtility)
+    HK_DECLARE_REFLECTION()
+
+    struct ControlData {
+        HK_DECLARE_CLASS_ALLOCATOR(ControlData)
+        HK_DECLARE_REFLECTION()
+
+        hkReal m_hierarchyGain;
+        hkReal m_velocityDamping;
+        hkReal m_accelerationGain;
+        hkReal m_velocityGain;
+        hkReal m_positionGain;
+        hkReal m_positionMaxLinearVelocity;
+        hkReal m_positionMaxAngularVelocity;
+        hkReal m_snapGain;
+        hkReal m_snapMaxLinearVelocity;
+        hkReal m_snapMaxAngularVelocity;
+        hkReal m_snapMaxLinearDistance;
+        hkReal m_snapMaxAngularDistance;
+
+        ControlData()
+            : m_hierarchyGain(hkReal(0.17f)), m_velocityDamping(0), m_accelerationGain(1),
+              m_velocityGain(hkReal(0.6f)), m_positionGain(hkReal(0.05f)),
+              m_positionMaxLinearVelocity(hkReal(1.4f)), m_positionMaxAngularVelocity(hkReal(1.8f)),
+              m_snapGain(hkReal(0.1f)), m_snapMaxLinearVelocity(hkReal(0.3f)),
+              m_snapMaxAngularVelocity(hkReal(0.3f)), m_snapMaxLinearDistance(hkReal(0.03f)),
+              m_snapMaxAngularDistance(hkReal(0.1f)) {}
+
+        explicit ControlData(hkFinishLoadedObjectFlag flag) {}
+
+        hkBool isValid() const;
+    };
+
+    struct WorkElem {
+        HK_DECLARE_CLASS_ALLOCATOR(WorkElem)
+
+        hkVector4 m_prevPosition;
+        hkQuaternion m_prevRotation;
+        hkVector4 m_prevLinearVelocity;
+        hkVector4 m_prevAngularVelocity;
+    };
+
+    struct KeyFrameData {
+        HK_DECLARE_CLASS_ALLOCATOR(KeyFrameData)
+
+        hkQsTransform m_worldFromRoot;
+        /// The desired pose in local space, one transform for each rigid body
+        const hkQsTransform* m_desiredPoseLocalSpace;
+        WorkElem* m_internalReferencePose;
+    };
+
+    struct BodyData {
+        HK_DECLARE_CLASS_ALLOCATOR(BodyData)
+
+        int m_numRigidBodies;
+        hkpRigidBody* const* m_rigidBodies;
+        const hkInt16* m_parentIndices;
+        int* m_controlDataIndices = nullptr;
+        const hkReal* m_boneWeights = nullptr;
+    };
+
+    struct Output {
+        HK_DECLARE_CLASS_ALLOCATOR(Output)
+
+        hkReal m_stressSquared;
+    };
+
+    static void initialize(const hkpRigidBody* rb, WorkElem& workElem);
+
+    static void initialize(const BodyData& bodies, WorkElem* internalReferencePose);
+
+    static void applyKeyFrame(hkReal m_deltaTime, const KeyFrameData& pose, const BodyData& body,
+                              const ControlData* controlPalette, Output* outputArray = nullptr);
+};

lib/hkStubs/Havok/Animation/Physics2012Bridge/Controller/RigidBody/hkaRagdollRigidBodyController.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <Havok/Animation/Physics2012Bridge/Controller/RigidBody/hkaKeyFrameHierarchyUtility.h>
+#include <Havok/Common/Base/hkBase.h>
+
+class hkaRagdollInstance;
+
+class hkaRagdollRigidBodyController {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkaRagdollRigidBodyController)
+
+    explicit hkaRagdollRigidBodyController(hkaRagdollInstance* ragdoll);
+    ~hkaRagdollRigidBodyController();
+
+    void driveToPose(hkReal deltaTime, const hkQsTransform* poseLocalSpace,
+                     const hkQsTransform& worldFromModel,
+                     hkaKeyFrameHierarchyUtility::Output* stressOut);
+
+    void reinitialize();
+    void reinitialize(int boneIndex);
+
+    const hkaRagdollInstance* getRagdollInstance() const;
+
+    void setBoneWeights(const hkReal* boneWeights);
+
+    hkArray<hkaKeyFrameHierarchyUtility::ControlData> m_controlDataPalette;
+    hkArray<int> m_bodyIndexToPaletteIndex;
+
+protected:
+    hkaKeyFrameHierarchyUtility::BodyData m_bodyData;
+    hkArray<hkaKeyFrameHierarchyUtility::WorkElem> m_internalData;
+    hkaRagdollInstance* m_ragdollInstance;
+    hkArray<hkInt16> m_rbParentIndices;
+};