162 lines
4.1 KiB
C++
Executable File
162 lines
4.1 KiB
C++
Executable File
|
|
#ifndef _MPxIkSolver
|
|
#define _MPxIkSolver
|
|
//
|
|
//-
|
|
// ==========================================================================
|
|
// Copyright (C) 1995 - 2005 Alias Systems Corp. and/or its licensors. All
|
|
// rights reserved.
|
|
//
|
|
// The coded instructions, statements, computer programs, and/or related
|
|
// material (collectively the "Data") in these files contain unpublished
|
|
// information proprietary to Alias Systems Corp. ("Alias") and/or its
|
|
// licensors, which is protected by Canadian and US federal copyright law and
|
|
// by international treaties.
|
|
//
|
|
// The Data may not be disclosed or distributed to third parties or be copied
|
|
// or duplicated, in whole or in part, without the prior written consent of
|
|
// Alias.
|
|
//
|
|
// THE DATA IS PROVIDED "AS IS". ALIAS HEREBY DISCLAIMS ALL WARRANTIES RELATING
|
|
// TO THE DATA, INCLUDING, WITHOUT LIMITATION, ANY AND ALL EXPRESS OR IMPLIED
|
|
// WARRANTIES OF NON-INFRINGEMENT, MERCHANTABILITY AND/OR FITNESS FOR A
|
|
// PARTICULAR PURPOSE. IN NO EVENT SHALL ALIAS BE LIABLE FOR ANY DAMAGES
|
|
// WHATSOEVER, WHETHER DIRECT, INDIRECT, SPECIAL, OR PUNITIVE, WHETHER IN AN
|
|
// ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, OR IN EQUITY,
|
|
// ARISING OUT OF ACCESS TO, USE OF, OR RELIANCE UPON THE DATA.
|
|
// ==========================================================================
|
|
//+
|
|
//
|
|
// 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 */
|