GEBalljoint.h

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#pragma once
 
#include "GEGraphicsContext.h"
#include "GERenderingContext.h"
#include "GESphere.h"
#include "GECylinder.h"
#include "GELight.h"
#include <glm/glm.hpp>
#include <string>
#include <vector>
#include "DEBUG.h"

class GEBalljoint
{
private:
    // ===== Propiedades básicas =====
    GLfloat length;       
    glm::vec3 location;   
    glm::vec3 dir;        
    glm::vec3 up;         
    glm::vec3 right;      
    GLfloat angles[3];    
    GESphere *joint;      
    GECylinder *bone;     
 
    // ===== Jerarquía =====
    std::string name;                   
    glm::vec3 offset;                   
    glm::vec3 localZAxis;               
    glm::vec3 localYAxis;               
    std::vector<GEBalljoint *> children; 
    glm::mat4 worldMatrix;              

    struct Limits
    {
        glm::vec3 min;  
        glm::vec3 max;  
        bool enabled;   
// Test
// Si macro definida en main, mostrar si algún valor en las articulaciones alcanza límite
#ifdef DEBUG
        bool wasLimited; 
#endif
    } limits; 

    void ComputeMatrix();

    void ComputeMatrix(glm::mat4 parentMatrix);
 
public:
    GEBalljoint(float length);

    GEBalljoint(const std::string &name, float length,
                glm::vec3 offset, glm::vec3 zAxis, glm::vec3 yAxis);
 
    // Ciclo de vida
    void initialize(GEGraphicsContext *gc, GERenderingContext *rc);
    void destroy(GEGraphicsContext *gc);
    void addCommands(VkCommandBuffer commandBuffer, VkPipelineLayout pipelineLayout, int index);
    void update(GEGraphicsContext *gc, uint32_t index, glm::mat4 view, glm::mat4 projection);
 
    // Métodos recursivos
    void initializeRecursive(GEGraphicsContext *gc, GERenderingContext *rc);
    void destroyRecursive(GEGraphicsContext *gc);
    void addCommandsRecursive(VkCommandBuffer commandBuffer, VkPipelineLayout pipelineLayout, int index);
    void updateRecursive(GEGraphicsContext *gc, uint32_t index,
                         glm::mat4 parentMatrix, glm::mat4 view, glm::mat4 projection);
    void setLightRecursive(GELight l);
 
    // Setters
    void setLight(GELight l);
    void setLocation(glm::vec3 loc);
    void setOrientation(glm::vec3 nDir, glm::vec3 nUp);
    void setPose(float xrot, float yrot, float zrot);
    void setLimits(glm::vec3 min, glm::vec3 max);
 
    // Jerarquía
    void addChild(GEBalljoint *child);
    GEBalljoint *findChild(const std::string &searchName);
 
    // Getters
    const std::string &getName() const;
    const std::vector<GEBalljoint *> &getChildren() const;
    glm::mat4 getWorldMatrix() const;
    glm::mat4 getBoneEndMatrix() const;
};