ISplineIKGoal Class Reference
Detailed Description
- See also:
- : Class
IIKGoal
class ISplineIKGoal: public IIKGoal
This class is only available in release 5 or later. This is an interface to a specific type of IK goal, the spline IK goal. The interface id is given the constant kSplineIKGoalID.
#include <ikhierarchy.h>
Inheritance diagram for ISplineIKGoal:
Public Member Functions |
|
| BaseInterface * | GetInterface (Interface_ID id) |
| Interface_ID | GetID () |
| virtual float | StartParam () const =0 |
| virtual float | EndParam () const =0 |
| virtual Point3 | SplinePosAt (float, BOOL, BOOL=FALSE) const =0 |
| virtual Point3 | SplineTangentAt (float, BOOL) const =0 |
| virtual const Matrix3 & | Goal () const =0 |
| virtual INode * | GetGoalNode () const =0 |
| virtual IIKChainControl * | GetChainControl ()=0 |
| virtual float | GetSplineLength () const =0 |
| virtual float | TwistHStartAngle () const =0 |
| virtual float | TwistHEndAngle () const =0 |
| virtual INode * | StartJoint () const =0 |
| virtual INode * | EndJoint () const =0 |
| virtual const ZeroPlaneMap * | DefaultZeroMap () const =0 |
| virtual BOOL | IsClosed () const =0 |
| virtual const Matrix3 & | TwistParent () const =0 |
Member Function Documentation
| BaseInterface* GetInterface | ( | Interface_ID | id | ) | [inline, virtual] |
- Remarks:
- Returns a pointer of type BaseInterface for the interface IIKGoal
- Parameters:
- Interface_ID id
Input id = kGoalID(<b>0x53937e2, 0x2be92941)
- Remarks:
- Returns, Interface_ID kGoalID(0x53937e2,
0x2be92941)
Reimplemented from IIKGoal.
{ if (id == kSplineIKGoalID) return this; else return IIKGoal::GetInterface(id); }
| Interface_ID GetID | ( | ) | [inline, virtual] |
- Remarks:
- Returns, Interface_ID kGoalID(0x53937e2,
0x2be92941)
Reimplemented from IIKGoal.
Reimplemented in ISplineIKGoal2.
{ return kSplineIKGoalID; }
| virtual float StartParam | ( | ) | const [pure virtual] |
| virtual float EndParam | ( | ) | const [pure virtual] |
| virtual Point3 SplinePosAt | ( | float | , |
| BOOL | , | ||
| BOOL | = FALSE |
||
| ) | const [pure virtual] |
- Remarks:
- Returns the position of a point on a spline or NURBS curve
given its global u-value. The point can be computed in the local or
the world space of the curve, represented by the second BOOL
argument. The third BOOL argument determines if we should really
recompute the curve or use the cached data.
| virtual Point3 SplineTangentAt | ( | float | , |
| BOOL | |||
| ) | const [pure virtual] |
- Remarks:
- Similar to the above: returns the tangent at a point on a
spline or NURBS curve given its global u-value. The point can be
computed in the local or the world space of the curve, represented
by the second BOOL argument.
| virtual const Matrix3& Goal | ( | ) | const [pure virtual] |
- Remarks:
- Obtained from IHIIKGoal. I don't
think we are currently using it for the SPlineIK.
| virtual INode* GetGoalNode | ( | ) | const [pure virtual] |
- Remarks:
- Grabs the Goal node.
| virtual IIKChainControl* GetChainControl | ( | ) | [pure virtual] |
- Remarks:
- Returns a pointer IIKChainControl.
| virtual float GetSplineLength | ( | ) | const [pure virtual] |
- Remarks:
- Compute the length of the spline which the IKchain conforms
to.
| virtual float TwistHStartAngle | ( | ) | const [pure virtual] |
- Remarks:
- Get the angle of the Start Twist Manipulator
| virtual float TwistHEndAngle | ( | ) | const [pure virtual] |
- Remarks:
- Get the angle of the End Twist Manipulator
| virtual INode* StartJoint | ( | ) | const [pure virtual] |
- Remarks:
- Get the Start Joint node of the IK Chain
| virtual INode* EndJoint | ( | ) | const [pure virtual] |
- Remarks:
- Get the End Joint node of the IK Chain
| virtual const ZeroPlaneMap* DefaultZeroMap | ( | ) | const [pure virtual] |
- Remarks:
- Returns a ZeroPlaneMap.
| virtual BOOL IsClosed | ( | ) | const [pure virtual] |
- Remarks:
- Returns TRUE/FALSE as to whether curve is open or closed.
| virtual const Matrix3& TwistParent | ( | ) | const [pure virtual] |
