| #pragma once |
|
|
| #include "motion_rep.hpp" |
|
|
| #include <motionbricks/motionbricks.h> |
|
|
| #include <array> |
| #include <cstdint> |
| #include <string> |
|
|
| struct mb_model; |
| struct mb_motion; |
|
|
| namespace motionbricks::detail { |
|
|
| struct transition_constraints { |
| std::array<float, 8U * global_root_width> global_root{}; |
| std::array<float, 8U * local_root_width> local_root{}; |
| std::array<float, 8U * external_pose_width> poses{}; |
| std::array<std::uint8_t, 8U> has_global_root{1,1,1,1,1,1,1,1}; |
| std::array<std::uint8_t, 8U> has_local_root{1,1,1,0,1,1,1,1}; |
| std::array<std::uint8_t, 8U> has_poses{1,1,1,1,1,1,1,1}; |
| std::array<std::uint8_t, 11U> allowed_tokens{1,1,1,1,1,1,1,1,1,1,1}; |
| std::array<float, 4U * 3U> target_root_translations{}; |
| std::array<float, 4U * g1_joint_count * 4U> target_local_rotations_xyzw{}; |
| }; |
|
|
| mb_status run_transition(const mb_model & model, |
| const transition_constraints & constraints, |
| mb_motion & output, |
| std::uint32_t * selected_tokens, |
| std::string & reason); |
|
|
| } |
|
|
