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Eagle517
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Torque/SDK/lib/maxsdk40/IIKSys.h
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204
Torque/SDK/lib/maxsdk40/IIKSys.h
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/**********************************************************************
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*<
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FILE: IIKSys.h
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DESCRIPTION: Interfaces into IK sub-system classes/functions.
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CREATED BY: Jianmin Zhao
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HISTORY: created 3 April 2000
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*> Copyright (c) 1994, All Rights Reserved.
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**********************************************************************/
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#ifndef __IIKSys__H
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#define __IIKSys__H
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#include "iFnPub.h"
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// Class ids
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#define IKCONTROL_CLASS_ID Class_ID(0xe6f5815, 0x717f99a4)
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#define IKCHAINCONTROL_CLASS_ID Class_ID(0x78724378, 0x8a4fd9)
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#define GET_IKCHAIN_CD (GetCOREInterface()->GetDllDir().ClassDir().FindClass(CTRL_MATRIX3_CLASS_ID, IKCHAINCONTROL_CLASS_ID))
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#define IK_FP_INTERFACE_ID Interface_ID(0x5b734601, 0x7c7c7ece)
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#define IKCHAIN_FP_INTERFACE_ID Interface_ID(0x5a5e7cbe, 0x55367776)
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#define GET_IK_OPS_INTERFACE ((IKCmdOps*)GetCOREInterface(IK_FP_INTERFACE_ID))
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#define GET_IKCHAIN_FP_INTERFACE ((IKChainActions*)GET_IKCHAIN_CD->GetInterface(IKCHAIN_FP_INTERFACE_ID))
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class IKCmdOps : public FPStaticInterface {
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public:
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virtual INode* CreateIKChain(INode* start, INode* end, const TCHAR* solver) =0;
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};
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class IKChainActions : public FPStaticInterface {
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public:
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virtual FPStatus SnapAction() =0;
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virtual FPStatus IKSnapAction() =0;
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virtual FPStatus FKSnapAction() =0;
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virtual BOOL IsSnapEnabled() =0;
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};
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namespace IKSys {
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class ZeroPlaneMap;
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}
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//
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// IIKChainControl
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//
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class IKSolver;
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class IIKChainControl {
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public:
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// Reference index:
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//
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enum {
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kPBlockRef = 0, // ParamBlock
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kGoalTMRef, // Matrix3 controller
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kEndJointRef, // INode
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kEnableRef, // Bool (float) controller
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kStartJointRef, // INode
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kLastRef
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};
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// Parameter block index:
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//
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enum {
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kParamBlock,
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kNumParamBlocks
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};
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// Paramter index of parameters in param-block of index kParamBlock:
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//
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enum {
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kStartJoint, // INode, referenced by kStartJointRef
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kEndJoint, // INode, referenced by kEndJointRef
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kSolverName, // String
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kAutoEnable, // BOOL
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kSwivel, // Angle
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kPosThresh, // Float
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kRotThresh, // Float
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kIteration, // Integer
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kEEDisplay, // BOOL
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kEESize, // Float
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kGoalDisplay, // BOOL
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kGoalSize, // Float
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kVHDisplay, // BOOL
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kVHSize, // Float
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kVHLength, // Float
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kSolverDisplay, // BOOL
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kAutoSnap, // BOOL
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kVHUseTarget, // BOOL
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kVHTarget, // INode
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kSAParent, // RadioBtn_Index
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kLastParam
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};
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enum SAParentSpace {
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kSAInGoal,
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kSAInStartJoint
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};
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// IK chain delimiters
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virtual INode* StartJoint() const =0;
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virtual INode* EndJoint() const =0;
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virtual INode* GetNode() const =0;
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// Vector Handle
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// InitPlane/InitEEAxis are the normal and End Effector Axis at the
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// initial pose. They are represented in the parent space.
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// ChainNormal is the InitPlane represented in the object space:
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// InitPlane() == ChainNormal * StartJoint()->InittialRotation()
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virtual Point3 ChainNormal(TimeValue t, Interval& valid) =0;
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virtual Point3 InitPlane(TimeValue t) =0;
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virtual Point3 InitEEAxis(TimeValue t) =0;
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virtual float InitChainLength(TimeValue t) =0;
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virtual float SwivelAngle(TimeValue, Interval&)=0;
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virtual const IKSys::ZeroPlaneMap*
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DefaultZeroPlaneMap(TimeValue t) =0;
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virtual SAParentSpace SwivelAngleParent() const =0;
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// Solver
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virtual IKSolver* Solver() const =0;
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virtual bool SolverEnabled(TimeValue, Interval* =0)=0;
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virtual bool CanAutoEnable() const =0;
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virtual bool AutoEnableSet() const =0;
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virtual bool Valid() const =0;
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};
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namespace IKSys {
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enum DofAxis {
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TransX = 0, TransY, TransZ,
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RotX, RotY, RotZ,
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DofX = 0, DofY, DofZ
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};
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enum JointType {
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SlidingJoint,
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RotationalJoint
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};
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struct DofSet {
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DofSet() : bits(0) {}
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DofSet(const DofSet& src) : bits(src.bits) {}
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void Add(DofAxis dn) { bits |= (1 << dn); }
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void Clear(DofAxis dn) { bits &= ~(unsigned(1 << dn)); }
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int Include(DofAxis dn) const { return bits & (1 << dn); }
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int Count() const;
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unsigned bits;
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};
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inline int DofSet::Count() const
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{
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for (unsigned b = bits, ret = 0, i = TransX; i <= RotZ; ++i) {
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if (b == 0) break;
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else if (b & 01u) {
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ret++;
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}
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b = b >> 1;
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}
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return ret;
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}
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}; // namespace IKSys
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//
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// IIKControl
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//
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class IIKControl {
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public:
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typedef IKSys::DofAxis DofAxis;
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typedef IKSys::JointType JointType;
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typedef IKSys::DofSet DofSet;
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//Queries
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virtual bool DofActive(DofAxis) const =0;
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virtual DofSet ActiveTrans() const =0;
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virtual DofSet ActiveRot() const =0;
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virtual DofSet ActiveDofs() const =0;
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virtual INodeTab IKChains(JointType) const =0;
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virtual bool DofLowerLimited(DofAxis) const =0;
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virtual bool DofUpperLimited(DofAxis) const =0;
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virtual Point2 DofLimits(DofAxis) const =0;
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virtual Point3 TransLowerLimits() const =0;
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virtual Point3 TransUpperLimits() const =0;
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virtual Point3 RotLowerLimits() const =0;
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virtual Point3 RotUpperLimits() const =0;
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virtual bool IKBound(TimeValue t, JointType jt)=0;
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virtual Control* FKSubController() const =0;
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virtual INode* GetNode() const =0;
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virtual Point3 PrefPosition(TimeValue t, Interval& validityInterval) =0;
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virtual Point3 PrefRotation(TimeValue t, Interval& validityInterval) =0;
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// DOF values
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virtual Point3 TransValues(TimeValue, Interval* =0)=0;
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virtual Point3 RotValues(TimeValue, Interval* =0)=0;
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virtual void AssignTrans(const Point3&, const Interval&)=0;
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virtual void AssignRot(const Point3&, const Interval&)=0;
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virtual void AssignActiveTrans(const Point3&, const Interval&)=0;
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virtual void AssignActiveRot(const Point3&, const Interval&)=0;
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virtual void AssignActiveTrans(const DofSet&, const float[],
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const Interval&)=0;
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virtual void AssignActiveRot(const DofSet&, const float[],
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const Interval&)=0;
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virtual void SetTransValid(const Interval& valid) =0;
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virtual void SetRotValid(const Interval& valid) =0;
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virtual void SetTRValid(const Interval& valid) =0;
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virtual void SetPrefTrans(const Point3& val, TimeValue t =0) =0;
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virtual void SetPrefRot(const Point3& val, TimeValue t =0) =0;
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virtual void SetPrefTR(const Point3& trans, const Point3& rot,
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TimeValue t =0) =0;
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};
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#endif // #ifndef __IIKSys__H
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