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Torque/SDK/lib/mayamacsdk5/include/maya/MPxIkSolverNode.h

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+
+#ifndef _MPxIkSolverNode
+#define _MPxIkSolverNode
+//
+// *****************************************************************************
+//
+// Copyright (C) 1998-2003 Alias|Wavefront Inc.
+//
+// These coded instructions, statements and computer programs contain
+// unpublished information proprietary to Alias|Wavefront Inc. and are
+// protected by Canadian and US federal copyright laws. They may not be
+// disclosed to third parties or copied or duplicated, in whole or in part,
+// without prior written consent of Alias|Wavefront Inc.
+//
+// Unpublished-rights reserved under the Copyright Laws of the United States.
+//
+// *****************************************************************************
+//
+// CLASS:    MPxIkSolverNode
+//
+// *****************************************************************************
+//
+// CLASS DESCRIPTION (MPxIkSolverNode)
+//
+//  The base class for user defined IK solvers.
+//
+// *****************************************************************************
+
+#if defined __cplusplus
+
+// *****************************************************************************
+
+// INCLUDED HEADER FILES
+
+
+
+#include <maya/MStatus.h>
+#include <maya/MTypes.h>
+#include <maya/MObject.h>
+#include <maya/MPxNode.h>
+
+// *****************************************************************************
+
+// DECLARATIONS
+
+class MString;
+class MArgList;
+class MIkHandleGroup;
+class MMatrix;
+class MDoubleArray;
+
+// *****************************************************************************
+
+// CLASS DECLARATION (MPxIkSolverNode)
+
+/// Base class for user defined IK solvers  (OpenMayaAnim)
+/**
+
+Derive from this class to create user-defined IK solvers.
+
+*/
+#ifdef _WIN32
+#pragma warning(disable: 4522)
+#endif // _WIN32
+
+class OPENMAYAANIM_EXPORT MPxIkSolverNode : public MPxNode
+{
+public:
+	///
+	virtual ~MPxIkSolverNode();
+	///
+	virtual MPxNode::Type type() const;
+
+	///
+	virtual MStatus		preSolve();
+	///
+	virtual MStatus		doSolve();
+	///
+	virtual MStatus		postSolve( MStatus );
+
+	///
+	virtual MString		solverTypeName() const;
+
+	///
+	bool				rotatePlane(MStatus *ReturnStatus = NULL) const;
+	///
+	MStatus				setRotatePlane(bool rotatePlane);
+	///
+	bool				singleChainOnly(MStatus *ReturnStatus = NULL) const;
+	///
+	MStatus				setSingleChainOnly(bool singleChainOnly);
+	///
+	bool				positionOnly(MStatus *ReturnStatus = NULL) const;
+	///
+	MStatus				setPositionOnly(bool positionOnly);
+	///
+	bool				supportJointLimits(MStatus *ReturnStatus = NULL) const;
+	///
+	MStatus				setSupportJointLimits(bool supportJointLimits);
+	///
+	bool				uniqueSolution(MStatus *ReturnStatus = NULL) const;
+	///
+	MStatus				setUniqueSolution(bool uniqueSolution);
+
+	/// OBSOLETE
+	virtual bool		isSingleChainOnly() const;
+	/// OBSOLETE
+	virtual bool		isPositionOnly() const;
+	/// OBSOLETE
+	virtual bool		hasJointLimitSupport() const;
+	/// OBSOLETE
+	virtual bool		hasUniqueSolution() const;
+	/// OBSOLETE
+	virtual bool		groupHandlesByTopology() const;
+
+	///
+	virtual MStatus		setFuncValueTolerance( double tolerance );
+	///
+	virtual MStatus		setMaxIterations( int value );
+
+	///
+	MIkHandleGroup * 	handleGroup() const;
+	///
+	virtual void 		setHandleGroup( MIkHandleGroup* );
+	///
+	const MMatrix *		toWorldSpace() const;
+	///
+	const MMatrix *		toSolverSpace() const;
+	///
+	double 				funcValueTolerance() const;
+	///
+	int 				maxIterations() const;
+	///
+	virtual void 		snapHandle( MObject& handle );
+
+	void				create();
+
+protected:
+
+	///
+	MStatus				getJointAngles( MDoubleArray& ) const;
+	///
+	MStatus				setJointAngles( const MDoubleArray& );
+	///
+	void				setToRestAngles();
+
+	///
+	MPxIkSolverNode();
+
+	static const char*	className();
+
+private:
+	void*	instance;
+
+};
+
+#ifdef _WIN32
+#pragma warning(default: 4522)
+#endif // _WIN32
+
+// *****************************************************************************
+#endif /* __cplusplus */
+#endif /* _MPxIkSolverNode */