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Torque/SDK/lib/mayasdk6/include/maya/MPxIkSolver.h

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+
+#ifndef _MPxIkSolver
+#define _MPxIkSolver
+//
+//-
+// ==========================================================================
+// Copyright  (C)  Alias Systems,  a division  of  Silicon Graphics  Limited.
+// All rights  reserved.  These coded  instructions,  statements and computer
+// programs  contain  unpublished information  proprietary to  Alias Systems,
+// a  division  of  Silicon  Graphics  Limited,  which  is  protected by  the
+// Canadian  and  US federal copyright law and  may not be disclosed to third
+// parties or  copied  or  duplicated,  in  whole  or in part,  without prior
+// written  consent  of Alias Systems, a division of Silicon Graphics Limited
+// ==========================================================================
+//+
+//
+// CLASS:    MPxIkSolver
+//
+// *****************************************************************************
+//
+// CLASS DESCRIPTION (MPxIkSolver)
+//
+//  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>
+
+// *****************************************************************************
+
+// DECLARATIONS
+
+class MString;
+class MArgList;
+class MIkHandleGroup;
+class MMatrix;
+class MDoubleArray;
+
+// *****************************************************************************
+
+// CLASS DECLARATION (MPxIkSolver)
+
+/// OBSOLETE CLASS: Base class for user defined IK solvers  (OpenMayaAnim)
+/**
+
+MPxIkSolver is OBSOLETE, and will be removed in a future version of Maya.
+The MPxIkSolver class has been replaced with the MPxIkSolverNode class.
+This is an obsolete base class for writing user-defined IK solvers.
+
+*/
+#ifdef _WIN32
+#pragma warning(disable: 4522)
+#endif // _WIN32
+
+class OPENMAYAANIM_EXPORT MPxIkSolver
+{
+public:
+	///
+	virtual ~MPxIkSolver();
+
+	///
+	static void			registerSolver( const MString & solverName,
+								MCreatorFunction creatorFunction );
+
+
+	///
+	virtual MStatus		preSolve();
+	///
+	virtual MStatus		doSolve();
+	///
+	virtual MStatus		postSolve( MStatus );
+
+
+	// These methods MUST be overridden by the user.
+	//
+	///
+	virtual MString		solverTypeName() const;
+	///
+	virtual bool		isSingleChainOnly() const;
+	///
+	virtual bool		isPositionOnly() const;
+	///
+	virtual bool		hasJointLimitSupport() const;
+	///
+	virtual bool		hasUniqueSolution() const;
+	///
+	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();
+
+	///
+	MPxIkSolver();
+
+	virtual const char*	className() const;
+
+private:
+	void*	instance;
+
+};
+
+#ifdef _WIN32
+#pragma warning(default: 4522)
+#endif // _WIN32
+
+// *****************************************************************************
+#endif /* __cplusplus */
+#endif /* _MPxIkSolver */