Initial commit

Torque/SDK/lib/maxsdk31/ikctrl.h

@@ -0,0 +1,58 @@
+/**********************************************************************
+ *<
+	FILE:  ikctrl.h
+
+	DESCRIPTION:  Inverse Kinematics Controllers
+
+	CREATED BY:  Rolf Berteig
+
+	HISTORY: 3-1-97
+
+ *>	Copyright (c) 1997, All Rights Reserved.
+ **********************************************************************/
+
+#ifndef __IKCTRL_H__
+#define __IKCTRL_H__
+
+
+#define IKMASTER_CLASSID		Class_ID(0xa91004be,0x9901fe83)
+#define IKSLAVE_CLASSID			Class_ID(0xbe380a31,0x310dc9e4)
+
+class IKMasterControl : public ReferenceTarget {
+	public:
+		Class_ID			ClassID() {return IKMASTER_CLASSID;}
+		SClass_ID			SuperClassID() {return REF_TARGET_CLASS_ID;}
+
+		virtual void		AddSlaveNode(INode *node)=0;
+		virtual void		*GetMasterBase()=0;
+
+		virtual void		SetPosThresh(float t)=0;
+		virtual void		SetRotThresh(float t)=0;
+		virtual void		SetIterations(int i)=0;
+		virtual void		SetStartTime(TimeValue s)=0;
+		virtual void		SetEndTime(TimeValue e)=0;
+
+		virtual float		GetPosThresh()=0;
+		virtual float		GetRotThresh()=0;
+		virtual int			GetIterations()=0;
+		virtual TimeValue	GetStartTime()=0;
+		virtual TimeValue	GetEndTime()=0;
+	};
+
+class IKSlaveControl : public Control {
+	public:
+		Class_ID ClassID() {return IKSLAVE_CLASSID;}
+		SClass_ID SuperClassID() {return CTRL_MATRIX3_CLASS_ID;}
+
+		virtual IKMasterControl *GetMaster()=0;
+		virtual void SetDOF(int which,BOOL onOff)=0;
+		virtual void SetInitPos(Point3 pos)=0;
+		virtual void SetInitRot(Point3 rot)=0;
+		virtual void MakeEE(BOOL onOff,DWORD which,Point3 pos,Quat rot)=0;
+	};
+
+CoreExport IKMasterControl *CreateIKMasterControl();
+CoreExport IKSlaveControl *CreateIKSlaveControl(IKMasterControl *master,INode *slaveNode);
+
+
+#endif //__IKCTRL_H__