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Torque/SDK/lib/maxsdk40/IKSolver.h

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+/**********************************************************************
+ *<
+	FILE: IKSolver.h
+
+	DESCRIPTION:  IK Solver Class definition
+
+	CREATED BY: Jianmin Zhao
+
+	HISTORY: created 16 March 2000
+
+ *>	Copyright (c) 1994, All Rights Reserved.
+ **********************************************************************/
+
+#ifndef __IKSolver__H
+#define __IKSolver__H
+#include "IKHierarchy.h"
+
+class IKSolver  : public BaseInterfaceServer {
+public:
+  typedef unsigned	ReturnCondition;
+  enum ConditionBit {
+	bLimitReached =			0x00000001,
+	bLimitClamped =			0x00000002,
+	bMaxIterationReached =	0x00000004,
+	// The first eight bits are reserved for mild condition.
+	// They are still considered successful.
+	bGoalTooCloseToEE =		0x00000100,
+	bInvalidArgument =		0x00000200,
+	bInvalidInitialValue =	0x00000400
+  };
+  // Plugins derived from this class are supposed to have this super class id.
+  virtual SClass_ID SuperClassID() {return IK_SOLVER_CLASS_ID;}
+  virtual Class_ID ClassID() =0;
+  virtual void GetClassName(TSTR& s) { s= TSTR(_T("IKSolver")); }  
+  virtual ~IKSolver(){}
+
+  // History independent solver does need time input.
+  virtual bool		IsHistoryDependent() const =0;
+  virtual bool		DoesOneChainOnly() const =0;
+  // Interactive solver does need initial pose. It needs current pose.
+  virtual bool		IsInteractive() const =0;
+  virtual bool		UseSlidingJoint() const =0;
+  virtual bool		UseSwivelAngle() const =0;
+  // Solutions of an analytic solver is not dependent on Pos/Rot threshold
+  // or MaxInteration number.
+  virtual bool		IsAnalytic() const { return false; }
+  // The result will be simply clamped into joint limits by the ik system
+  // if the solver does not do joint limits.
+  virtual bool		DoesRootJointLimits() const { return false;}
+  virtual bool		DoesJointLimitsButRoot() const { return false;}
+  // RotThreshold() is not relevant to solver that does not SolveEERotation().
+  // UseSwivelAngle() and SolveEERotation() cannot both be true.
+  virtual bool		SolveEERotation() const =0;
+  // A solver may have its own zero map. If so, the IK system may want
+  // to know through this method.
+  virtual const IKSys::ZeroPlaneMap*
+			GetZeroPlaneMap(const Point3& a0, const Point3& n0) const
+			{ return NULL; }
+  virtual float		GetPosThreshold() const =0;
+  virtual float		GetRotThreshold() const =0;
+  virtual unsigned	GetMaxIteration() const =0;
+  virtual void		SetPosThreshold(float) =0;
+  virtual void		SetRotThreshold(float) =0;
+  virtual void		SetMaxIteration(unsigned) =0;
+  // The derived class should override this method if it answers true
+  // to DoesOneChainOnly() and false to HistoryDependent().
+  // The solver is not designed to be invoked recursively. The
+  // recursion logic existing among the ik chains is taken care of by
+  // the Max IK (sub-)System.
+  virtual ReturnCondition Solve(IKSys::LinkChain&) =0;
+};
+#endif // #ifndef __IKSolver__H