Detailed Description
- See also:
- Class INode, Class
Control, Class
Point2, Class Point3, Class Interval, Inverse
Kinematics
- Description:
- This class is available in release 4.0 and later only.
This class represents the TM controller for IK Chains and is used for nodes that serve as IK joints. This class is closely knit together with the Class IIKChainControl and form the IK system. An interface pointer to the IKControl class can be obtained by using Animatable::GetInterface(I_IKCONTROL). See the Inverse Kinematics section for more detailed information.
#include <iiksys.h>
Inheritance diagram for IIKControl:
Public Types |
|
| typedef IKSys::DofAxis | DofAxis |
| typedef IKSys::JointType | JointType |
| typedef IKSys::DofSet | DofSet |
Public Member Functions |
|
| virtual bool | DofActive (DofAxis) const =0 |
| virtual DofSet | ActiveTrans () const =0 |
| virtual DofSet | ActiveRot () const =0 |
| virtual DofSet | ActiveDofs () const =0 |
| virtual INodeTab | IKChains (JointType) const =0 |
| virtual bool | DofLowerLimited (DofAxis) const =0 |
| virtual bool | DofUpperLimited (DofAxis) const =0 |
| virtual Point2 | DofLimits (DofAxis) const =0 |
| virtual Point3 | TransLowerLimits () const =0 |
| virtual Point3 | TransUpperLimits () const =0 |
| virtual Point3 | RotLowerLimits () const =0 |
| virtual Point3 | RotUpperLimits () const =0 |
| virtual bool | IKBound (TimeValue t, JointType jt)=0 |
| virtual Control * | FKSubController () const =0 |
| virtual INode * | GetNode () const =0 |
| virtual Point3 | PrefPosition (TimeValue t, Interval &validityInterval)=0 |
| virtual Point3 | PrefRotation (TimeValue t, Interval &validityInterval)=0 |
| virtual Point3 | TransValues (TimeValue, Interval *=0)=0 |
| virtual Point3 | RotValues (TimeValue, Interval *=0)=0 |
| virtual void | AssignTrans (const Point3 &, const Interval &)=0 |
| virtual void | AssignRot (const Point3 &, const Interval &)=0 |
| virtual void | AssignActiveTrans (const Point3 &, const Interval &)=0 |
| virtual void | AssignActiveRot (const Point3 &, const Interval &)=0 |
| virtual void | AssignActiveTrans (const DofSet &, const float[], const Interval &)=0 |
| virtual void | AssignActiveRot (const DofSet &, const float[], const Interval &)=0 |
| virtual void | SetTransValid (const Interval &valid)=0 |
| virtual void | SetRotValid (const Interval &valid)=0 |
| virtual void | SetTRValid (const Interval &valid)=0 |
| virtual void | SetPrefTrans (const Point3 &val, TimeValue t=0)=0 |
| virtual void | SetPrefRot (const Point3 &val, TimeValue t=0)=0 |
| virtual void | SetPrefTR (const Point3 &trans, const Point3 &rot, TimeValue t=0)=0 |
Member Typedef Documentation
Member Function Documentation
| virtual bool DofActive | ( | DofAxis | ) | const [pure virtual] |
- Remarks:
- This method allows you to determine which degrees of freedom are active and inactive for the translational and rotational axes.
- Parameters:
- DofAxis
The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.
- Returns:
- TRUE if the specified DOF axis is active, otherwise FALSE.
| virtual DofSet ActiveTrans | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to determine which degrees of freedom are active and inactive for the translational axes. The returned DofSet can be tested for IKSys::DofX, IKSys::DofX, and IKSys::DofX.
- Returns:
- A DofSet structure containing the translational axes.
| virtual DofSet ActiveRot | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to determine which degrees of freedom are active and inactive for the rotational axes. The returned DofSet can be tested for IKSys::DofX, IKSys::DofX, and IKSys::DofX.
- Returns:
- A DofSet structure containing the translational axes.
| virtual DofSet ActiveDofs | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to determine which degrees of freedom are active and inactive for the translational and rotational axes. The returned DofSet can be tested for IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.
- Returns:
- A DofSet structure containing the translational and rotational axes.
- Remarks:
- This method returns a list of IK Chain nodes. Note that nn IK chain starts at the rotational joint of the Start Joint and ends at the sliding joint of the End Joint.
- Parameters:
- JointType
The joint type, either IKSys::SlidingJoint or IKSys::RotationalJoint.
- Returns:
- The node table of IK Chain nodes.
| virtual bool DofLowerLimited | ( | DofAxis | ) | const [pure virtual] |
- Remarks:
- This method allows you to check if a specific DOF axis has its lower bounds limited.
- Parameters:
- DofAxis
The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.
- Returns:
- TRUE if limited, otherwise FALSE.
| virtual bool DofUpperLimited | ( | DofAxis | ) | const [pure virtual] |
- Remarks:
- This method allows you to check if a specific DOF axis has its upper bounds limited.
- Parameters:
- DofAxis
The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.
- Returns:
- TRUE if limited, otherwise FALSE.
- Remarks:
- This method allows you to check if a specific DOF axis has its upper and lower bounds limited.
- Parameters:
- DofAxis
The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.
- Returns:
- A Point2 where X and Y are the lower and upper limits, respectively.
| virtual Point3 TransLowerLimits | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to retrieve the translation lower limits.
- Returns:
- A Point3 where X, Y, and Z represents the actual limits.
| virtual Point3 TransUpperLimits | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to retrieve the translation upper limits.
- Returns:
- A Point3 where X, Y, and Z represents the actual limits.
| virtual Point3 RotLowerLimits | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to retrieve the rotational lower limits.
- Returns:
- A Point3 where X, Y, and Z represents the actual limits.
| virtual Point3 RotUpperLimits | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to retrieve the rotational upper limits.
- Returns:
- A Point3 where X, Y, and Z represents the actual limits.
| virtual bool IKBound | ( | TimeValue | t, |
| JointType | jt | ||
| ) | [pure virtual] |
- Remarks:
- The parameter that decides whether an individual degree of freedom is active is not animatable. There is an animatable variable of IK chain that decides whether the goal defined in the IK chain actually affects the joints it covers at a specific time. This method allows you to query that.
- Parameters:
- TimeValue t
The time at which to test the joint type.
JointType jt
The joint type, either IKSys::SlidingJoint or IKSys::RotationalJoint.
- Returns:
- TRUE if bound, otherwise FALSE.
| virtual Control* FKSubController | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to obtain a pointer to the Forward Kinematics sub-controller. Note that the IK controller is not designed to be instanced. It is expected to have a unique node.
| virtual INode* GetNode | ( | ) | const [pure virtual] |
- Remarks:
- This method allows you to obtain a pointer to the node that holds the Forward Kinematics TM controller.
- Remarks:
- This method allows you to retrieve the preferred angle of translation. Note that the angles are constant with regard to animation time.
- Parameters:
- TimeValue t
The time at which to retrieve the preferred angle.
Interval& validityInterval
The validity interval.
- Returns:
- The X, Y, and Z, preferred angles.
- Remarks:
- This method allows you to retrieve the preferred angle of rotation. Note that the angles are constant with regard to animation time.
- Parameters:
- TimeValue t
The time at which to retrieve the preferred angle.
Interval& validityInterval
The validity interval.
- Returns:
- The X, Y, and Z, preferred angles.
- Remarks:
- This method allows you to set the angles of translational joints. Note that this method does not adjust the validity interval.
- Remarks:
- This method allows you to set the angles of rotational joints. Note that this method does not adjust the validity interval.
- Remarks:
- This method allows you to set the angles of translational joints. Note that this method will skip those degrees of freedom that are not active and that this method will not adjust the validity interval.
- Remarks:
- This method allows you to set the angles of rotational joints. Note that this method will skip those degrees of freedom that are not active and that this method does not adjust the validity interval.
- Remarks:
- This method allows you to set the angles of translational joints. The active DOF's are given as the first argument of type DofSet and the new values are supplied as a float array whose size should be the same as the DofSet [DofSet::Count()].Note that this method does not adjust the validity interval.
- Parameters:
- const DofSet&
The degrees of freedom.
const float[]
The new angles you wish to set.
const Interval&
The validity interval
- Remarks:
- This method allows you to set the angles of rotational joints. The active DOF's are given as the first argument of type DofSet and the new values are supplied as a float array whose size should be the same as the DofSet [DofSet::Count()].Note that this method does not adjust the validity interval.
- Parameters:
- const DofSet&
The degrees of freedom.
const float[]
The new angles you wish to set.
const Interval&
The validity interval
| virtual void SetTransValid | ( | const Interval & | valid | ) | [pure virtual] |
- Remarks:
- This method allows you to set the validity interval for translational joint angles.
- Parameters:
- const Interval& valid
The validity interval.
| virtual void SetRotValid | ( | const Interval & | valid | ) | [pure virtual] |
- Remarks:
- This method allows you to set the validity interval for rotational joint angles.
- Parameters:
- const Interval& valid
The validity interval.
| virtual void SetTRValid | ( | const Interval & | valid | ) | [pure virtual] |
- Remarks:
- This method allows you to set the validity interval for both translational and rotational joint angles.
- Parameters:
- const Interval& valid
The validity interval.
| virtual void SetPrefTrans | ( | const Point3 & | val, |
| TimeValue | t = 0 |
||
| ) | [pure virtual] |
- Remarks:
- A solver may start off the solution process with joint angles being set to special values, preferred angles. This method allows you to set the preferred angles of the translational joints.
- Parameters:
- const Point3&
val
The preferred angles you wish to set.
TimeValue t = 0
The time at which to set them.
| virtual void SetPrefRot | ( | const Point3 & | val, |
| TimeValue | t = 0 |
||
| ) | [pure virtual] |
- Remarks:
- A solver may start off the solution process with joint angles being set to special values, preferred angles. This method allows you to set the preferred angles of the rotational joints.
- Parameters:
- const Point3&
val
The preferred angles you wish to set.
TimeValue t = 0
The time at which to set them.
- Remarks:
- A solver may start off the solution process with joint angles being set to special values, preferred angles. This method allows you to set the preferred angles of both the translational and rotational joints.
