C++ FCSPose类代码示例

void FAnimNode_WheelHandler::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	const TArray<FWheelAnimData>& WheelAnimData = AnimInstanceProxy->GetWheelAnimData();

	const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();
	for(const FWheelLookupData& Wheel : Wheels)
	{
		if (Wheel.BoneReference.IsValid(BoneContainer))
		{
			FCompactPoseBoneIndex WheelSimBoneIndex = Wheel.BoneReference.GetCompactPoseIndex(BoneContainer);

			// the way we apply transform is same as FMatrix or FTransform
			// we apply scale first, and rotation, and translation
			// if you'd like to translate first, you'll need two nodes that first node does translate and second nodes to rotate. 
			FTransform NewBoneTM = MeshBases.GetComponentSpaceTransform(WheelSimBoneIndex);

			FAnimationRuntime::ConvertCSTransformToBoneSpace(SkelComp, MeshBases, NewBoneTM, WheelSimBoneIndex, BCS_ComponentSpace);

			// Apply rotation offset
			const FQuat BoneQuat(WheelAnimData[Wheel.WheelIndex].RotOffset);
			NewBoneTM.SetRotation(BoneQuat * NewBoneTM.GetRotation());

			// Apply loc offset
			NewBoneTM.AddToTranslation(WheelAnimData[Wheel.WheelIndex].LocOffset);

			// Convert back to Component Space.
			FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, NewBoneTM, WheelSimBoneIndex, BCS_ComponentSpace);

			// add back to it
			OutBoneTransforms.Add(FBoneTransform(WheelSimBoneIndex, NewBoneTM));
		}
	}
}

void FAnimNode_CopyBone::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	// Pass through if we're not doing anything.
	if( !bCopyTranslation && !bCopyRotation && !bCopyScale )
	{
		return;
	}

	// Get component space transform for source and current bone.
	const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();
	FCompactPoseBoneIndex SourceBoneIndex = SourceBone.GetCompactPoseIndex(BoneContainer);
	FCompactPoseBoneIndex TargetBoneIndex = TargetBone.GetCompactPoseIndex(BoneContainer);

	FTransform SourceBoneTM = MeshBases.GetComponentSpaceTransform(SourceBoneIndex);
	FTransform CurrentBoneTM = MeshBases.GetComponentSpaceTransform(TargetBoneIndex);

	if(ControlSpace != BCS_ComponentSpace)
	{
		// Convert out to selected space
		FAnimationRuntime::ConvertCSTransformToBoneSpace(SkelComp, MeshBases, SourceBoneTM, SourceBoneIndex, ControlSpace);
		FAnimationRuntime::ConvertCSTransformToBoneSpace(SkelComp, MeshBases, CurrentBoneTM, TargetBoneIndex, ControlSpace);
	}
	
	// Copy individual components
	if (bCopyTranslation)
	{
		CurrentBoneTM.SetTranslation( SourceBoneTM.GetTranslation() );
	}

	if (bCopyRotation)
	{
		CurrentBoneTM.SetRotation( SourceBoneTM.GetRotation() );
	}

	if (bCopyScale)
	{
		CurrentBoneTM.SetScale3D( SourceBoneTM.GetScale3D() );
	}

	if(ControlSpace != BCS_ComponentSpace)
	{
		// Convert back out if we aren't operating in component space
		FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, CurrentBoneTM, TargetBoneIndex, ControlSpace);
	}

	// Output new transform for current bone.
	OutBoneTransforms.Add(FBoneTransform(TargetBoneIndex, CurrentBoneTM));
}

/** Convert a BoneSpace FTransform to ComponentSpace. */
void FAnimationRuntime::ConvertBoneSpaceTransformToCS
(
	USkeletalMeshComponent * SkelComp,  
	FCSPose<FCompactPose> & MeshBases,
	/*inout*/ FTransform& BoneSpaceTM, 
	FCompactPoseBoneIndex BoneIndex,
	uint8 Space
)
{
	switch( Space )
	{
		case BCS_WorldSpace : 
			BoneSpaceTM.SetToRelativeTransform(SkelComp->ComponentToWorld);
			break;

		case BCS_ComponentSpace :
			// Component Space, no change.
			break;

		case BCS_ParentBoneSpace :
			if( BoneIndex != INDEX_NONE )
			{
				const FCompactPoseBoneIndex ParentIndex = MeshBases.GetPose().GetParentBoneIndex(BoneIndex);
				if( ParentIndex != INDEX_NONE )
				{
					const FTransform& ParentTM = MeshBases.GetComponentSpaceTransform(ParentIndex);
					BoneSpaceTM *= ParentTM;
				}
			}
			break;

		case BCS_BoneSpace :
			if( BoneIndex != INDEX_NONE )
			{
				const FTransform& BoneTM = MeshBases.GetComponentSpaceTransform(BoneIndex);
				BoneSpaceTM *= BoneTM;
			}
			break;

		default:
			UE_LOG(LogAnimation, Warning, TEXT("ConvertBoneSpaceTransformToCS: Unknown BoneSpace %d  for Mesh: %s"), Space, *GetNameSafe(SkelComp->SkeletalMesh));
			break;
	}
}

void FAnimNode_HandIKRetargeting::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	checkSlow(OutBoneTransforms.Num() == 0);

	const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();
	// Get component space transforms for all of our IK and FK bones.
	const FTransform& RightHandFKTM = MeshBases.GetComponentSpaceTransform(RightHandFK.GetCompactPoseIndex(BoneContainer));
	const FTransform& LeftHandFKTM = MeshBases.GetComponentSpaceTransform(LeftHandFK.GetCompactPoseIndex(BoneContainer));
	const FTransform& RightHandIKTM = MeshBases.GetComponentSpaceTransform(RightHandIK.GetCompactPoseIndex(BoneContainer));
	const FTransform& LeftHandIKTM = MeshBases.GetComponentSpaceTransform(LeftHandIK.GetCompactPoseIndex(BoneContainer));
	
	// Compute weight FK and IK hand location. And translation from IK to FK.
	FVector const FKLocation = FMath::Lerp<FVector>(LeftHandFKTM.GetTranslation(), RightHandFKTM.GetTranslation(), HandFKWeight);
	FVector const IKLocation = FMath::Lerp<FVector>(LeftHandIKTM.GetTranslation(), RightHandIKTM.GetTranslation(), HandFKWeight);
	FVector const IK_To_FK_Translation = FKLocation - IKLocation;

	// If we're not translating, don't send any bones to update.
	if (!IK_To_FK_Translation.IsNearlyZero())
	{
		// Move desired bones
		for (const FBoneReference& BoneReference : IKBonesToMove)
		{
			if (BoneReference.IsValid(BoneContainer))
			{
				FCompactPoseBoneIndex BoneIndex = BoneReference.GetCompactPoseIndex(BoneContainer);
				FTransform BoneTransform = MeshBases.GetComponentSpaceTransform(BoneIndex);
				BoneTransform.AddToTranslation(IK_To_FK_Translation);

				OutBoneTransforms.Add(FBoneTransform(BoneIndex, BoneTransform));
			}
		}
	}
}

void FAnimNode_ModifyFinger::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	// the way we apply transform is same as FMatrix or FTransform
	// we apply scale first, and rotation, and translation
	// if you'd like to translate first, you'll need two nodes that first node does translate and second nodes to rotate.
	const FBoneContainer BoneContainer = MeshBases.GetPose().GetBoneContainer();
	
	// For all bones
	EvaluateOneBoneTransforms(&TargetFingerBone1, &Rotation1, BoneContainer, MeshBases, SkelComp, OutBoneTransforms);
	EvaluateOneBoneTransforms(&TargetFingerBone2, &Rotation2, BoneContainer, MeshBases, SkelComp, OutBoneTransforms);
	EvaluateOneBoneTransforms(&TargetFingerBone3, &Rotation3, BoneContainer, MeshBases, SkelComp, OutBoneTransforms);
}

void UAnimPreviewInstance::ApplyBoneControllers(USkeletalMeshComponent* Component, TArray<FAnimNode_ModifyBone> &InBoneControllers, FCSPose<FCompactPose>& OutMeshPose)
{
	for(auto& SingleBoneController : InBoneControllers)
	{
		SingleBoneController.BoneToModify.BoneIndex = RequiredBones.GetPoseBoneIndexForBoneName(SingleBoneController.BoneToModify.BoneName);
		if(SingleBoneController.BoneToModify.BoneIndex != INDEX_NONE)
		{
			TArray<FBoneTransform> BoneTransforms;
			SingleBoneController.EvaluateBoneTransforms(Component, OutMeshPose, BoneTransforms);
			if(BoneTransforms.Num() > 0)
			{
				OutMeshPose.LocalBlendCSBoneTransforms(BoneTransforms, 1.0f);
			}
		}
	}
}

void FAnimNode_RotationMultiplier::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	if ( Multiplier != 0.f )
	{
		// Reference bone
		const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();
		const FCompactPoseBoneIndex TargetBoneIndex = TargetBone.GetCompactPoseIndex(BoneContainer);
		const FCompactPoseBoneIndex SourceBoneIndex = SourceBone.GetCompactPoseIndex(BoneContainer);

		const FQuat RefQuat = MeshBases.GetPose().GetRefPose(TargetBoneIndex).GetRotation();
		const FTransform& SourceRefPose = MeshBases.GetPose().GetRefPose(SourceBoneIndex);
		FQuat NewQuat = MultiplyQuatBasedOnSourceIndex(SourceRefPose, MeshBases.GetLocalSpaceTransform(SourceBoneIndex), RotationAxisToRefer, Multiplier, RefQuat);

		FTransform NewLocalTransform = MeshBases.GetLocalSpaceTransform(TargetBoneIndex);
		
		if (bIsAdditive)
		{
			NewQuat = NewLocalTransform.GetRotation() * NewQuat;
		}
		
		NewLocalTransform.SetRotation(NewQuat);

		const FCompactPoseBoneIndex ParentIndex = MeshBases.GetPose().GetParentBoneIndex(TargetBoneIndex);
		if( ParentIndex != INDEX_NONE )
		{
			const FTransform& ParentTM = MeshBases.GetComponentSpaceTransform(ParentIndex);
			FTransform NewTransform = NewLocalTransform * ParentTM;
			OutBoneTransforms.Add( FBoneTransform(TargetBoneIndex, NewTransform) );
		}
		else
		{
			OutBoneTransforms.Add( FBoneTransform(TargetBoneIndex, NewLocalTransform) );
		}
	}
}

void UDebugSkelMeshComponent::RefreshBoneTransforms(FActorComponentTickFunction* TickFunction)
{
	// Run regular update first so we get RequiredBones up to date.
	Super::RefreshBoneTransforms(NULL); // Pass NULL so we force non threaded work

	const bool bIsPreviewInstance = (PreviewInstance && PreviewInstance == AnimScriptInstance);

	BakedAnimationPoses.Empty();
	if(bDisplayBakedAnimation && bIsPreviewInstance && PreviewInstance->RequiredBones.IsValid())
	{
		if(UAnimSequence* Sequence = Cast<UAnimSequence>(PreviewInstance->CurrentAsset))
		{
			BakedAnimationPoses.AddUninitialized(PreviewInstance->RequiredBones.GetNumBones());
			bool bSavedUseSourceData = AnimScriptInstance->RequiredBones.ShouldUseSourceData();
			AnimScriptInstance->RequiredBones.SetUseRAWData(true);
			AnimScriptInstance->RequiredBones.SetUseSourceData(false);
			PreviewInstance->EnableControllers(false);
			GenSpaceBases(BakedAnimationPoses);
			AnimScriptInstance->RequiredBones.SetUseRAWData(false);
			AnimScriptInstance->RequiredBones.SetUseSourceData(bSavedUseSourceData);
			PreviewInstance->EnableControllers(true);
		}
	}

	SourceAnimationPoses.Empty();
	if(bDisplaySourceAnimation && bIsPreviewInstance && PreviewInstance->RequiredBones.IsValid())
	{
		if(UAnimSequence* Sequence = Cast<UAnimSequence>(PreviewInstance->CurrentAsset))
		{
			SourceAnimationPoses.AddUninitialized(PreviewInstance->RequiredBones.GetNumBones());
			bool bSavedUseSourceData = AnimScriptInstance->RequiredBones.ShouldUseSourceData();
			AnimScriptInstance->RequiredBones.SetUseSourceData(true);
			PreviewInstance->EnableControllers(false);
			GenSpaceBases(SourceAnimationPoses);
			AnimScriptInstance->RequiredBones.SetUseSourceData(bSavedUseSourceData);
			PreviewInstance->EnableControllers(true);
		}
	}

	UncompressedSpaceBases.Empty();
	if (bDisplayRawAnimation && AnimScriptInstance && AnimScriptInstance->RequiredBones.IsValid())
	{
		UncompressedSpaceBases.AddUninitialized(AnimScriptInstance->RequiredBones.GetNumBones());

		AnimScriptInstance->RequiredBones.SetUseRAWData(true);
		GenSpaceBases(UncompressedSpaceBases);
		AnimScriptInstance->RequiredBones.SetUseRAWData(false);
	}

	// Non retargeted pose.
	NonRetargetedSpaceBases.Empty();
	if( bDisplayNonRetargetedPose && AnimScriptInstance && AnimScriptInstance->RequiredBones.IsValid() )
	{
		NonRetargetedSpaceBases.AddUninitialized(AnimScriptInstance->RequiredBones.GetNumBones());
		AnimScriptInstance->RequiredBones.SetDisableRetargeting(true);
		GenSpaceBases(NonRetargetedSpaceBases);
		AnimScriptInstance->RequiredBones.SetDisableRetargeting(false);
	}

	// Only works in PreviewInstance, and not for anim blueprint. This is intended.
	AdditiveBasePoses.Empty();
	if( bDisplayAdditiveBasePose && bIsPreviewInstance && PreviewInstance->RequiredBones.IsValid() )
	{
		if (UAnimSequence* Sequence = Cast<UAnimSequence>(PreviewInstance->CurrentAsset)) 
		{ 
			if (Sequence->IsValidAdditive()) 
			{ 
				FCSPose<FCompactPose> CSAdditiveBasePose;
				{
					FCompactPose AdditiveBasePose;
					FBlendedCurve AdditiveCurve(PreviewInstance);
					AdditiveBasePose.SetBoneContainer(&PreviewInstance->RequiredBones);
					Sequence->GetAdditiveBasePose(AdditiveBasePose, AdditiveCurve, FAnimExtractContext(PreviewInstance->CurrentTime));
					CSAdditiveBasePose.InitPose(AdditiveBasePose);
				}

				for (int32 i = 0; i < AdditiveBasePoses.Num(); ++i)
				{
					FCompactPoseBoneIndex CompactIndex = PreviewInstance->RequiredBones.MakeCompactPoseIndex(FMeshPoseBoneIndex(i));
					AdditiveBasePoses[i] = CSAdditiveBasePose.GetComponentSpaceTransform(CompactIndex);
				}
			}
		}
	}
}

void FAnimNode_KinectV2Retarget::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{


	
	uint8 i = 0;

	if (!KinectBody.bIsTracked)
	{
		return;
	}

	const FBoneContainer BoneContainer = MeshBases.GetPose().GetBoneContainer();

	FA2CSPose TempPose;

	TempPose.AllocateLocalPoses(BoneContainer, SkelComp->LocalAtoms);


	for (auto Bone : KinectBody.KinectBones)
	{


		
		if (BonesToRetarget[i].IsValid(BoneContainer))
		{

			auto DeltaTranform = Bone.MirroredJointTransform.GetRelativeTransform(SkelComp->GetBoneTransform(0));


			//AxisMeshes[Bone.JointTypeEnd]->SetRelativeLocation(PosableMesh->GetBoneLocationByName(RetargetBoneNames[Bone.JointTypeEnd], EBoneSpaces::ComponentSpace));

			auto BoneBaseTransform = DeltaTranform*SkelComp->GetBoneTransform(0);



			FRotator PreAdjusmentRotator = BoneBaseTransform.Rotator();

			FRotator PostBoneDirAdjustmentRotator = (BoneAdjustments[Bone.JointTypeEnd].BoneDirAdjustment.Quaternion()*PreAdjusmentRotator.Quaternion()).Rotator();

			FRotator CompSpaceRotator = (PostBoneDirAdjustmentRotator.Quaternion()*BoneAdjustments[Bone.JointTypeEnd].BoneNormalAdjustment.Quaternion()).Rotator();

			FVector Normal, Binormal, Dir;

			UKismetMathLibrary::BreakRotIntoAxes(CompSpaceRotator, Normal, Binormal, Dir);

			Dir *= BoneAdjustments[Bone.JointTypeEnd].bInvertDir ? -1 : 1;

			Normal *= BoneAdjustments[Bone.JointTypeEnd].bInvertNormal ? -1 : 1;


			FVector X, Y, Z;

			switch (BoneAdjustments[Bone.JointTypeEnd].BoneDirAxis)
			{
			case EAxis::X:
				X = Dir;
				break;
			case EAxis::Y:
				Y = Dir;
				break;
			case EAxis::Z:
				Z = Dir;
				break;
			default:
				;
			}

			switch (BoneAdjustments[Bone.JointTypeEnd].BoneBinormalAxis)
			{
			case EAxis::X:
				X = Binormal;
				break;
			case EAxis::Y:
				Y = Binormal;
				break;
			case EAxis::Z:
				Z = Binormal;
				break;
			default:
				;
			}

			switch (BoneAdjustments[Bone.JointTypeEnd].BoneNormalAxis)
			{
			case EAxis::X:
				X = Normal;
				break;
			case EAxis::Y:
				Y = Normal;
				break;
			case EAxis::Z:
				Z = Normal;
				break;
			default:
				;
			}

			FRotator SwiveledRot = UKismetMathLibrary::MakeRotationFromAxes(X, Y, Z);

//.........这里部分代码省略.........

bool UAnimPreviewInstance::NativeEvaluateAnimation(FPoseContext& Output)
{
#if WITH_EDITORONLY_DATA
	if(bForceRetargetBasePose)
	{
		USkeletalMeshComponent* MeshComponent = GetSkelMeshComponent();
		if(MeshComponent && MeshComponent->SkeletalMesh)
		{
			FAnimationRuntime::FillWithRetargetBaseRefPose(Output.Pose, GetSkelMeshComponent()->SkeletalMesh);
		}
		else
		{
			// ideally we'll return just ref pose, but not sure if this will work with LODs
			Output.Pose.ResetToRefPose();
		}
	}
	else
#endif // #if WITH_EDITORONLY_DATA
	{
		Super::NativeEvaluateAnimation(Output);
	}

	if (bEnableControllers)
	{
		UDebugSkelMeshComponent* Component = Cast<UDebugSkelMeshComponent>(GetSkelMeshComponent());

		if(Component && CurrentSkeleton)
		{
			// update curve controllers
			UpdateCurveController();

			// create bone controllers from 
			if(BoneControllers.Num() > 0 || CurveBoneControllers.Num() > 0)
			{
				FCompactPose PreController, PostController;
				// if set key is true, we should save pre controller local space transform 
				// so that we can calculate the delta correctly
				if(bSetKey)
				{
					PreController = Output.Pose;
				}

				FCSPose<FCompactPose> OutMeshPose;
				OutMeshPose.InitPose(&RequiredBones);

				// apply curve data first
				ApplyBoneControllers(Component, CurveBoneControllers, OutMeshPose);

				// and now apply bone controllers data
				// it is possible they can be overlapping, but then bone controllers will overwrite
				ApplyBoneControllers(Component, BoneControllers, OutMeshPose);

				// convert back to local @todo check this
				OutMeshPose.ConvertToLocalPoses(Output.Pose);

				if(bSetKey)
				{
					// now we have post controller, and calculate delta now
					PostController = Output.Pose;
					SetKeyImplementation(PreController, PostController);
				}
			}
			// if any other bone is selected, still go for set key even if nothing changed
			else if(Component->BonesOfInterest.Num() > 0)
			{
				if(bSetKey)
				{
					// in this case, pose is same
					SetKeyImplementation(Output.Pose, Output.Pose);
				}
			}
		}

		// we should unset here, just in case somebody clicks the key when it's not valid
		if(bSetKey)
		{
			bSetKey = false;
		}
	}

	return true;
}

void FAnimNode_AnimDynamics::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	SCOPE_CYCLE_COUNTER(STAT_AnimDynamicsOverall);

	int32 RestrictToLOD = CVarRestrictLod.GetValueOnAnyThread();
	bool bEnabledForLod = RestrictToLOD >= 0 ? SkelComp->PredictedLODLevel == RestrictToLOD : true;

	if (CVarEnableDynamics.GetValueOnAnyThread() == 1 && bEnabledForLod)
	{
		// Pretty nasty - but there isn't really a good way to get clean bone transforms (without the modification from
		// previous runs) so we have to initialize here, checking often so we can restart a simulation in the editor.
		if (bRequiresInit)
		{
			InitPhysics(SkelComp, MeshBases);
			bRequiresInit = false;
		}

		if (bDoUpdate && NextTimeStep > 0.0f)
		{
			// Wind / Force update
			if(CVarEnableWind.GetValueOnAnyThread() == 1 && bEnableWind)
			{
				SCOPE_CYCLE_COUNTER(STAT_AnimDynamicsWindData);

				for(FAnimPhysRigidBody* Body : BaseBodyPtrs)
				{
					if(SkelComp && SkelComp->GetWorld())
					{
						Body->bWindEnabled = bEnableWind;

						if(Body->bWindEnabled)
						{
							UWorld* World = SkelComp->GetWorld();
							FSceneInterface* Scene = World->Scene;

							// Unused by our simulation but needed for the call to GetWindParameters below
							float WindMinGust;
							float WindMaxGust;

							// Setup wind data
							Body->bWindEnabled = true;
							Scene->GetWindParameters(SkelComp->ComponentToWorld.TransformPosition(Body->Pose.Position), Body->WindData.WindDirection, Body->WindData.WindSpeed, WindMinGust, WindMaxGust);

							Body->WindData.WindDirection = SkelComp->ComponentToWorld.Inverse().TransformVector(Body->WindData.WindDirection);
							Body->WindData.WindAdaption = FMath::FRandRange(0.0f, 2.0f);
							Body->WindData.BodyWindScale = WindScale;
						}
					}
				}
			}
			else
			{
				SCOPE_CYCLE_COUNTER(STAT_AnimDynamicsWindData);
				// Disable wind.
				for(FAnimPhysRigidBody* Body : BaseBodyPtrs)
				{
					Body->bWindEnabled = false;
				}
			}

			if (CVarEnableAdaptiveSubstep.GetValueOnAnyThread() == 1)
			{
				float FixedTimeStep = MaxSubstepDeltaTime * CurrentTimeDilation;

				// Clamp the fixed timestep down to max physics tick time.
				// at high speeds the simulation will not converge as the delta time is too high, this will
				// help to keep constraints together at a cost of physical accuracy
				FixedTimeStep = FMath::Clamp(FixedTimeStep, 0.0f, MaxPhysicsDeltaTime);

				// Calculate number of substeps we should do.
				int32 NumIters = FMath::TruncToInt((NextTimeStep + (TimeDebt * CurrentTimeDilation)) / FixedTimeStep);
				NumIters = FMath::Clamp(NumIters, 0, MaxSubsteps);

				SET_DWORD_STAT(STAT_AnimDynamicsSubSteps, NumIters);

				// Store the remaining time as debt for later frames
				TimeDebt = (NextTimeStep + TimeDebt) - (NumIters * FixedTimeStep);
				TimeDebt = FMath::Clamp(TimeDebt, 0.0f, MaxTimeDebt);

				NextTimeStep = FixedTimeStep;

				for (int32 Iter = 0; Iter < NumIters; ++Iter)
				{
					UpdateLimits(SkelComp, MeshBases);
					FAnimPhys::PhysicsUpdate(FixedTimeStep, BaseBodyPtrs, LinearLimits, AngularLimits, Springs, NumSolverIterationsPreUpdate, NumSolverIterationsPostUpdate);
				}
			}
			else
			{
				// Do variable frame-time update
				const float MaxDeltaTime = MaxPhysicsDeltaTime;

				NextTimeStep = FMath::Min(NextTimeStep, MaxDeltaTime);

				UpdateLimits(SkelComp, MeshBases);
				FAnimPhys::PhysicsUpdate(NextTimeStep, BaseBodyPtrs, LinearLimits, AngularLimits, Springs, NumSolverIterationsPreUpdate, NumSolverIterationsPostUpdate);
			}
		}

		if (bDoEval)
//.........这里部分代码省略.........

void FAnimNode_AnimDynamics::UpdateLimits(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases)
{
	SCOPE_CYCLE_COUNTER(STAT_AnimDynamicsLimitUpdate);

	// We're always going to use the same number so don't realloc
	LinearLimits.Empty(LinearLimits.Num());
	AngularLimits.Empty(AngularLimits.Num());
	Springs.Empty(Springs.Num());

	const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();

	for (int32 Idx = 0; Idx < Bodies.Num(); ++Idx)
	{
		const FBoneReference& CurrentBoneRef = BoundBoneReferences[Idx];

		// If our bone isn't valid, move on
		if(!CurrentBoneRef.IsValid(BoneContainer))
		{
			continue;
		}

		FAnimPhysLinkedBody& ChainBody = Bodies[Idx];
		FAnimPhysRigidBody& RigidBody = Bodies[Idx].RigidBody.PhysBody;
		
		FAnimPhysRigidBody* PrevBody = nullptr;
		if (ChainBody.ParentBody)
		{
			PrevBody = &ChainBody.ParentBody->PhysBody;
		}

		// Get joint transform
		FCompactPoseBoneIndex BoneIndex = CurrentBoneRef.GetCompactPoseIndex(BoneContainer);
		FTransform BoundBoneTransform = MeshBases.GetComponentSpaceTransform(BoneIndex);
		FTransform ShapeTransform = BoundBoneTransform;
		
		// Local offset to joint for Body1
		FVector Body1JointOffset = LocalJointOffset;

		if (PrevBody)
		{
			// Get the correct offset
			Body1JointOffset = JointOffsets[Idx];
			// Modify the shape transform to be correct in Body0 frame
			ShapeTransform = FTransform(FQuat::Identity, -Body1JointOffset);
		}
		
		if (ConstraintSetup.bLinearFullyLocked)
		{
			// Rather than calculate prismatic limits, just lock the transform (1 limit instead of 6)
			FAnimPhys::ConstrainPositionNailed(NextTimeStep, LinearLimits, PrevBody, ShapeTransform.GetTranslation(), &RigidBody, Body1JointOffset);
		}
		else
		{
			if (ConstraintSetup.LinearXLimitType != AnimPhysLinearConstraintType::Free)
			{
				FAnimPhys::ConstrainAlongDirection(NextTimeStep, LinearLimits, PrevBody, ShapeTransform.GetTranslation(), &RigidBody, Body1JointOffset, ShapeTransform.GetRotation().GetAxisX(), FVector2D(ConstraintSetup.LinearAxesMin.X, ConstraintSetup.LinearAxesMax.X));
			}

			if (ConstraintSetup.LinearYLimitType != AnimPhysLinearConstraintType::Free)
			{
				FAnimPhys::ConstrainAlongDirection(NextTimeStep, LinearLimits, PrevBody, ShapeTransform.GetTranslation(), &RigidBody, Body1JointOffset, ShapeTransform.GetRotation().GetAxisY(), FVector2D(ConstraintSetup.LinearAxesMin.Y, ConstraintSetup.LinearAxesMax.Y));
			}

			if (ConstraintSetup.LinearZLimitType != AnimPhysLinearConstraintType::Free)
			{
				FAnimPhys::ConstrainAlongDirection(NextTimeStep, LinearLimits, PrevBody, ShapeTransform.GetTranslation(), &RigidBody, Body1JointOffset, ShapeTransform.GetRotation().GetAxisZ(), FVector2D(ConstraintSetup.LinearAxesMin.Z, ConstraintSetup.LinearAxesMax.Z));
			}
		}

		if (ConstraintSetup.AngularConstraintType == AnimPhysAngularConstraintType::Angular)
		{
#if WITH_EDITOR
			// Check the ranges are valid when running in the editor, log if something is wrong
			if(ConstraintSetup.AngularLimitsMin.X > ConstraintSetup.AngularLimitsMax.X ||
			   ConstraintSetup.AngularLimitsMin.Y > ConstraintSetup.AngularLimitsMax.Y ||
			   ConstraintSetup.AngularLimitsMin.Z > ConstraintSetup.AngularLimitsMax.Z)
			{
				UE_LOG(LogAnimation, Warning, TEXT("AnimDynamics: Min/Max angular limits for bone %s incorrect, at least one min axis value is greater than the corresponding max."), *BoundBone.BoneName.ToString());
			}
#endif

			// Add angular limits. any limit with 360+ degree range is ignored and left free.
			FAnimPhys::ConstrainAngularRange(NextTimeStep, AngularLimits, PrevBody, &RigidBody, ShapeTransform.GetRotation(), ConstraintSetup.TwistAxis, ConstraintSetup.AngularLimitsMin, ConstraintSetup.AngularLimitsMax);
		}
		else
		{
			FAnimPhys::ConstrainConeAngle(NextTimeStep, AngularLimits, PrevBody, BoundBoneTransform.GetRotation().GetAxisX(), &RigidBody, FVector(1.0f, 0.0f, 0.0f), ConstraintSetup.ConeAngle);
		}

		if(PlanarLimits.Num() > 0)
		{
			for(FAnimPhysPlanarLimit& PlanarLimit : PlanarLimits)
			{
				FTransform LimitPlaneTransform = PlanarLimit.PlaneTransform;
				if(PlanarLimit.DrivingBone.IsValid(BoneContainer))
				{
					FCompactPoseBoneIndex DrivingBoneIndex = PlanarLimit.DrivingBone.GetCompactPoseIndex(BoneContainer);
					LimitPlaneTransform *= MeshBases.GetComponentSpaceTransform(DrivingBoneIndex);// * LimitPlaneTransform;
				}
				
//.........这里部分代码省略.........

void FAnimNode_AnimDynamics::InitPhysics(USkeletalMeshComponent* Component, FCSPose<FCompactPose>& MeshBases)
{
	// Clear up any existing physics data
	TermPhysics();

	const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();

	
	// List of bone indices in the chain.
	TArray<int32> ChainBoneIndices;
	TArray<FName> ChainBoneNames;

	if(ChainEnd.IsValid(BoneContainer))
	{
		// Add the end of the chain. We have to walk from the bottom upwards to find a chain
		// as walking downwards doesn't guarantee a single end point.

		ChainBoneIndices.Add(ChainEnd.BoneIndex);
		ChainBoneNames.Add(ChainEnd.BoneName);

		int32 ParentBoneIndex = BoneContainer.GetParentBoneIndex(ChainEnd.BoneIndex);

		// Walk up the chain until we either find the top or hit the root bone
		while(ParentBoneIndex != 0)
		{
			ChainBoneIndices.Add(ParentBoneIndex);
			ChainBoneNames.Add(Component->GetBoneName(ParentBoneIndex));

			if(ParentBoneIndex == BoundBone.BoneIndex)
			{
				// Found the top of the chain
				break;
			}

			ParentBoneIndex = BoneContainer.GetParentBoneIndex(ParentBoneIndex);
		}

		// Bail if we can't find a chain, and let the user know
		if(ParentBoneIndex != BoundBone.BoneIndex)
		{
			UE_LOG(LogAnimation, Error, TEXT("AnimDynamics: Attempted to find bone chain starting at %s and ending at %s but failed."), *BoundBone.BoneName.ToString(), *ChainEnd.BoneName.ToString());
			return;
		}
	}
	else
	{
		// No chain specified, just use the bound bone
		ChainBoneIndices.Add(BoundBone.BoneIndex);
		ChainBoneNames.Add(BoundBone.BoneName);
	}

	Bodies.Reserve(ChainBoneIndices.Num());
	// Walk backwards here as the chain was discovered in reverse order
	for (int32 Idx = ChainBoneIndices.Num() - 1; Idx >= 0; --Idx)
	{
		TArray<FAnimPhysShape> BodyShapes;
		BodyShapes.Add(FAnimPhysShape::MakeBox(BoxExtents));

		FBoneReference LinkBoneRef;
		LinkBoneRef.BoneName = ChainBoneNames[Idx];
		LinkBoneRef.Initialize(BoneContainer);

		// Calculate joint offsets by looking at the length of the bones and extending the provided offset
		if (BoundBoneReferences.Num() > 0)
		{
			FTransform CurrentBoneTransform = MeshBases.GetComponentSpaceTransform(LinkBoneRef.GetCompactPoseIndex(BoneContainer));
			FTransform PreviousBoneTransform = MeshBases.GetComponentSpaceTransform(BoundBoneReferences.Last().GetCompactPoseIndex(BoneContainer));

			FVector PreviousAnchor = PreviousBoneTransform.TransformPosition(-LocalJointOffset);
			float DistanceToAnchor = (PreviousBoneTransform.GetTranslation() - CurrentBoneTransform.GetTranslation()).Size() * 0.5f;

			if(LocalJointOffset.SizeSquared() < SMALL_NUMBER)
			{
				// No offset, just use the position between chain links as the offset
				// This is likely to just look horrible, but at least the bodies will
				// be placed correctly and not stack up at the top of the chain.
				JointOffsets.Add(PreviousAnchor - CurrentBoneTransform.GetTranslation());
			}
			else
			{
				// Extend offset along chain.
				JointOffsets.Add(LocalJointOffset.GetSafeNormal() * DistanceToAnchor);
			}
		}
		else
		{
			// No chain to worry about, just use the specified offset.
			JointOffsets.Add(LocalJointOffset);
		}

		BoundBoneReferences.Add(LinkBoneRef);

		FTransform BodyTransform = MeshBases.GetComponentSpaceTransform(LinkBoneRef.GetCompactPoseIndex(BoneContainer));
		BodyTransform.SetTranslation(BodyTransform.GetTranslation() + BodyTransform.GetRotation().RotateVector(-LocalJointOffset));

		FAnimPhysLinkedBody NewChainBody(BodyShapes, BodyTransform.GetTranslation(), LinkBoneRef);
		FAnimPhysRigidBody& PhysicsBody = NewChainBody.RigidBody.PhysBody;
		PhysicsBody.Pose.Orientation = BodyTransform.GetRotation();
		PhysicsBody.PreviousOrientation = PhysicsBody.Pose.Orientation;
		PhysicsBody.NextOrientation = PhysicsBody.Pose.Orientation;
//.........这里部分代码省略.........

void FAnimNode_TwoBoneIK::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	const FBoneContainer& BoneContainer = MeshBases.GetPose().GetBoneContainer();

	// Get indices of the lower and upper limb bones and check validity.
	bool bInvalidLimb = false;

	FCompactPoseBoneIndex IKBoneCompactPoseIndex = IKBone.GetCompactPoseIndex(BoneContainer);

	const FCompactPoseBoneIndex LowerLimbIndex = BoneContainer.GetParentBoneIndex(IKBoneCompactPoseIndex);
	if (LowerLimbIndex == INDEX_NONE)
	{
		bInvalidLimb = true;
	}

	const FCompactPoseBoneIndex UpperLimbIndex = BoneContainer.GetParentBoneIndex(LowerLimbIndex);
	if (UpperLimbIndex == INDEX_NONE)
	{
		bInvalidLimb = true;
	}

	const bool bInBoneSpace = (EffectorLocationSpace == BCS_ParentBoneSpace) || (EffectorLocationSpace == BCS_BoneSpace);
	const int32 EffectorBoneIndex = bInBoneSpace ? BoneContainer.GetPoseBoneIndexForBoneName(EffectorSpaceBoneName) : INDEX_NONE;
	const FCompactPoseBoneIndex EffectorSpaceBoneIndex = BoneContainer.MakeCompactPoseIndex(FMeshPoseBoneIndex(EffectorBoneIndex));

	if (bInBoneSpace && (EffectorSpaceBoneIndex == INDEX_NONE))
	{
		bInvalidLimb = true;
	}

	// If we walked past the root, this controlled is invalid, so return no affected bones.
	if( bInvalidLimb )
	{
		return;
	}

	// Get Local Space transforms for our bones. We do this first in case they already are local.
	// As right after we get them in component space. (And that does the auto conversion).
	// We might save one transform by doing local first...
	const FTransform EndBoneLocalTransform = MeshBases.GetLocalSpaceTransform(IKBoneCompactPoseIndex);

	// Now get those in component space...
	FTransform LowerLimbCSTransform = MeshBases.GetComponentSpaceTransform(LowerLimbIndex);
	FTransform UpperLimbCSTransform = MeshBases.GetComponentSpaceTransform(UpperLimbIndex);
	FTransform EndBoneCSTransform = MeshBases.GetComponentSpaceTransform(IKBoneCompactPoseIndex);

	// Get current position of root of limb.
	// All position are in Component space.
	const FVector RootPos = UpperLimbCSTransform.GetTranslation();
	const FVector InitialJointPos = LowerLimbCSTransform.GetTranslation();
	const FVector InitialEndPos = EndBoneCSTransform.GetTranslation();

	// Transform EffectorLocation from EffectorLocationSpace to ComponentSpace.
	FTransform EffectorTransform(EffectorLocation);
	FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, EffectorTransform, EffectorSpaceBoneIndex, EffectorLocationSpace);

	// This is our reach goal.
	FVector DesiredPos = EffectorTransform.GetTranslation();
	FVector DesiredDelta = DesiredPos - RootPos;
	float DesiredLength = DesiredDelta.Size();

	// Check to handle case where DesiredPos is the same as RootPos.
	FVector	DesiredDir;
	if (DesiredLength < (float)KINDA_SMALL_NUMBER)
	{
		DesiredLength = (float)KINDA_SMALL_NUMBER;
		DesiredDir = FVector(1,0,0);
	}
	else
	{
		DesiredDir = DesiredDelta / DesiredLength;
	}

	// Get joint target (used for defining plane that joint should be in).
	FTransform JointTargetTransform(JointTargetLocation);
	FCompactPoseBoneIndex JointTargetSpaceBoneIndex(INDEX_NONE);

	if (JointTargetLocationSpace == BCS_ParentBoneSpace || JointTargetLocationSpace == BCS_BoneSpace)
	{
		int32 Index = BoneContainer.GetPoseBoneIndexForBoneName(JointTargetSpaceBoneName);
		JointTargetSpaceBoneIndex = BoneContainer.MakeCompactPoseIndex(FMeshPoseBoneIndex(Index));
	}
	
	FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, JointTargetTransform, JointTargetSpaceBoneIndex, JointTargetLocationSpace);

	FVector	JointTargetPos = JointTargetTransform.GetTranslation();
	FVector JointTargetDelta = JointTargetPos - RootPos;
	float JointTargetLength = JointTargetDelta.Size();

	// Same check as above, to cover case when JointTarget position is the same as RootPos.
	FVector JointPlaneNormal, JointBendDir;
	if (JointTargetLength < (float)KINDA_SMALL_NUMBER)
	{
		JointBendDir = FVector(0,1,0);
		JointPlaneNormal = FVector(0,0,1);
	}
	else
	{
//.........这里部分代码省略.........

void FAnimNode_AimOffsetLookAt::UpdateFromLookAtTarget(FPoseContext& LocalPoseContext)
{
    const FBoneContainer& RequiredBones = LocalPoseContext.Pose.GetBoneContainer();
    if (RequiredBones.GetSkeletalMeshAsset())
    {
        const USkeletalMeshSocket* Socket = RequiredBones.GetSkeletalMeshAsset()->FindSocket(SourceSocketName);
        if (Socket)
        {
            const FTransform SocketLocalTransform = Socket->GetSocketLocalTransform();

            FBoneReference SocketBoneReference;
            SocketBoneReference.BoneName = Socket->BoneName;
            SocketBoneReference.Initialize(RequiredBones);

            if (SocketBoneReference.IsValid(RequiredBones))
            {
                const FCompactPoseBoneIndex SocketBoneIndex = SocketBoneReference.GetCompactPoseIndex(RequiredBones);

                FCSPose<FCompactPose> GlobalPose;
                GlobalPose.InitPose(LocalPoseContext.Pose);

                USkeletalMeshComponent* Component = LocalPoseContext.AnimInstanceProxy->GetSkelMeshComponent();
                AActor* Actor = Component ? Component->GetOwner() : nullptr;

                if (Component && Actor &&  BlendSpace)
                {
                    const FTransform ActorTransform = Actor->GetTransform();

                    const FTransform BoneTransform = GlobalPose.GetComponentSpaceTransform(SocketBoneIndex);
                    const FTransform SocketWorldTransform = SocketLocalTransform * BoneTransform * Component->ComponentToWorld;

                    // Convert Target to Actor Space
                    const FTransform TargetWorldTransform(LookAtLocation);

                    const FVector DirectionToTarget = ActorTransform.InverseTransformVectorNoScale(TargetWorldTransform.GetLocation() - SocketWorldTransform.GetLocation()).GetSafeNormal();
                    const FVector CurrentDirection = ActorTransform.InverseTransformVectorNoScale(SocketWorldTransform.GetUnitAxis(EAxis::X));

                    const FVector AxisX = FVector::ForwardVector;
                    const FVector AxisY = FVector::RightVector;
                    const FVector AxisZ = FVector::UpVector;

                    const FVector2D CurrentCoords = FMath::GetAzimuthAndElevation(CurrentDirection, AxisX, AxisY, AxisZ);
                    const FVector2D TargetCoords = FMath::GetAzimuthAndElevation(DirectionToTarget, AxisX, AxisY, AxisZ);
                    const FVector BlendInput(
                        FRotator::NormalizeAxis(FMath::RadiansToDegrees(TargetCoords.X - CurrentCoords.X)),
                        FRotator::NormalizeAxis(FMath::RadiansToDegrees(TargetCoords.Y - CurrentCoords.Y)),
                        0.f);

                    // Set X and Y, so ticking next frame is based on correct weights.
                    X = BlendInput.X;
                    Y = BlendInput.Y;

                    // Generate BlendSampleDataCache from inputs.
                    BlendSpace->GetSamplesFromBlendInput(BlendInput, BlendSampleDataCache);

                    if (CVarAimOffsetLookAtDebug.GetValueOnAnyThread() == 1)
                    {
                        DrawDebugLine(Component->GetWorld(), SocketWorldTransform.GetLocation(), TargetWorldTransform.GetLocation(), FColor::Green);
                        DrawDebugLine(Component->GetWorld(), SocketWorldTransform.GetLocation(), SocketWorldTransform.GetLocation() + SocketWorldTransform.GetUnitAxis(EAxis::X) * (TargetWorldTransform.GetLocation() - SocketWorldTransform.GetLocation()).Size(), FColor::Red);
                        DrawDebugCoordinateSystem(Component->GetWorld(), ActorTransform.GetLocation(), ActorTransform.GetRotation().Rotator(), 100.f);

                        FString DebugString = FString::Printf(TEXT("Socket (X:%f, Y:%f), Target (X:%f, Y:%f), Result (X:%f, Y:%f)")
                                                              , FMath::RadiansToDegrees(CurrentCoords.X)
                                                              , FMath::RadiansToDegrees(CurrentCoords.Y)
                                                              , FMath::RadiansToDegrees(TargetCoords.X)
                                                              , FMath::RadiansToDegrees(TargetCoords.Y)
                                                              , BlendInput.X
                                                              , BlendInput.Y);
                        GEngine->AddOnScreenDebugMessage(INDEX_NONE, 0.f, FColor::Red, DebugString, false);
                    }
                }
            }
        }
    }
}