149 lines
3.5 KiB
C++
Executable File
149 lines
3.5 KiB
C++
Executable File
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#ifndef _MPxIkSolver
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#define _MPxIkSolver
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//
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//-
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// ==========================================================================
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// Copyright (C) Alias Systems, a division of Silicon Graphics Limited.
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// All rights reserved. These coded instructions, statements and computer
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// programs contain unpublished information proprietary to Alias Systems,
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// a division of Silicon Graphics Limited, which is protected by the
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// Canadian and US federal copyright law and may not be disclosed to third
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// parties or copied or duplicated, in whole or in part, without prior
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// written consent of Alias Systems, a division of Silicon Graphics Limited
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// ==========================================================================
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//+
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//
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// CLASS: MPxIkSolver
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//
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// *****************************************************************************
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//
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// CLASS DESCRIPTION (MPxIkSolver)
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//
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// The base class for user defined ik solvers.
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//
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// *****************************************************************************
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#if defined __cplusplus
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// *****************************************************************************
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// INCLUDED HEADER FILES
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#include <maya/MStatus.h>
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#include <maya/MTypes.h>
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#include <maya/MObject.h>
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// *****************************************************************************
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// DECLARATIONS
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class MString;
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class MArgList;
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class MIkHandleGroup;
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class MMatrix;
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class MDoubleArray;
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// *****************************************************************************
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// CLASS DECLARATION (MPxIkSolver)
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/// OBSOLETE CLASS: Base class for user defined IK solvers (OpenMayaAnim)
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/**
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MPxIkSolver is OBSOLETE, and will be removed in a future version of Maya.
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The MPxIkSolver class has been replaced with the MPxIkSolverNode class.
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This is an obsolete base class for writing user-defined IK solvers.
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*/
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#ifdef _WIN32
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#pragma warning(disable: 4522)
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#endif // _WIN32
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class OPENMAYAANIM_EXPORT MPxIkSolver
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{
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public:
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///
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virtual ~MPxIkSolver();
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///
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static void registerSolver( const MString & solverName,
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MCreatorFunction creatorFunction );
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///
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virtual MStatus preSolve();
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///
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virtual MStatus doSolve();
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///
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virtual MStatus postSolve( MStatus );
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// These methods MUST be overridden by the user.
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//
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///
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virtual MString solverTypeName() const;
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///
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virtual bool isSingleChainOnly() const;
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///
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virtual bool isPositionOnly() const;
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///
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virtual bool hasJointLimitSupport() const;
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///
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virtual bool hasUniqueSolution() const;
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///
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virtual bool groupHandlesByTopology() const;
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///
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virtual MStatus setFuncValueTolerance( double tolerance );
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///
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virtual MStatus setMaxIterations( int value );
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///
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MIkHandleGroup * handleGroup() const;
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///
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virtual void setHandleGroup( MIkHandleGroup* );
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///
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const MMatrix * toWorldSpace() const;
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///
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const MMatrix * toSolverSpace() const;
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///
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double funcValueTolerance() const;
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///
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int maxIterations() const;
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///
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virtual void snapHandle( MObject& handle );
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void create();
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protected:
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///
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MStatus getJointAngles( MDoubleArray& ) const;
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///
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MStatus setJointAngles( const MDoubleArray& );
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///
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void setToRestAngles();
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///
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MPxIkSolver();
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virtual const char* className() const;
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private:
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void* instance;
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};
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#ifdef _WIN32
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#pragma warning(default: 4522)
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#endif // _WIN32
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// *****************************************************************************
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#endif /* __cplusplus */
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#endif /* _MPxIkSolver */
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