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00001 /********************************************************************** 00002 *< 00003 FILE: IIKSys.h 00004 00005 DESCRIPTION: Interfaces into IK sub-system classes/functions. 00006 00007 CREATED BY: Jianmin Zhao 00008 00009 HISTORY: created 3 April 2000 00010 00011 *> Copyright (c) 1994, All Rights Reserved. 00012 **********************************************************************/ 00013 00014 #pragma once 00015 00016 #include "maxheap.h" 00017 #include "iFnPub.h" 00018 #include "INodeTab.h" 00019 00020 // Class ids 00021 #define IKCONTROL_CLASS_ID Class_ID(0xe6f5815, 0x717f99a4) 00022 #define IKCHAINCONTROL_CLASS_ID Class_ID(0x78724378, 0x8a4fd9) 00023 #define GET_IKCHAIN_CD (GetCOREInterface()->GetDllDir().ClassDir().FindClass(CTRL_MATRIX3_CLASS_ID, IKCHAINCONTROL_CLASS_ID)) 00024 00025 #define IK_FP_INTERFACE_ID Interface_ID(0x5b734601, 0x7c7c7ece) 00026 #define IKCHAIN_FP_INTERFACE_ID Interface_ID(0x5a5e7cbe, 0x55367776) 00027 00028 #define GET_IK_OPS_INTERFACE ((IKCmdOps*)GetCOREInterface(IK_FP_INTERFACE_ID)) 00029 #define GET_IKCHAIN_FP_INTERFACE ((IKChainActions*)GET_IKCHAIN_CD->GetInterface(IKCHAIN_FP_INTERFACE_ID)) 00030 00039 class IKCmdOps : public FPStaticInterface { 00040 public: 00054 virtual INode* CreateIKChain(INode* start, INode* end, const MCHAR* solver) =0; 00057 virtual int SolverCount() const =0; 00061 virtual MSTR SolverName(int) const =0; 00065 virtual MSTR SolverUIName(int) const =0; 00066 }; 00067 00068 // class IKCmdOpsEx 00070 00076 class IKCmdOpsEx : public IKCmdOps { 00077 public: 00080 virtual void SuspendLinkNotify() = 0; 00083 virtual void ResumeLinkNotify() = 0; 00086 virtual bool IsLinkNotifySuspended() const = 0; 00087 }; 00088 00089 #define GET_IKEX_OPS_INTERFACE ((IKCmdOpsEx*)GetCOREInterface(IK_FP_INTERFACE_ID)) 00090 00111 class IKChainActions : public FPStaticInterface { 00112 public: 00116 virtual FPStatus SnapAction() =0; 00121 virtual FPStatus IKSnapAction() =0; 00126 virtual FPStatus FKSnapAction() =0; 00127 virtual BOOL IsSnapEnabled() =0; 00132 virtual FPStatus ToggleEnabled() =0; 00137 virtual FPStatus SetPreferredAngles() =0; 00140 virtual FPStatus AssumePreferredAngles() =0; 00141 }; 00142 00143 namespace IKSys { 00144 class ZeroPlaneMap; 00145 } 00146 // 00147 // IIKChainControl 00148 // 00149 class IKSolver; 00161 class IIKChainControl: public MaxHeapOperators { 00162 public: 00163 // Reference index: 00164 // 00165 enum { 00166 kPBlockRef = 0, // ParamBlock 00167 kGoalTMRef, // Matrix3 controller 00168 kEndJointRef, // INode 00169 kEnableRef, // Bool (float) controller 00170 kStartJointRef, // INode 00171 kOwningNodeRef, // Reference on a NodeMonitor that holds an indirect reference on the owning Node 00172 kLastRef 00173 }; 00174 // Parameter block index: 00175 // 00176 enum { 00177 kParamBlock, 00178 kNumParamBlocks 00179 }; 00180 // Paramter index of parameters in param-block of index kParamBlock: 00181 // 00182 enum { 00183 kStartJoint, // INode, referenced by kStartJointRef 00184 kEndJoint, // INode, referenced by kEndJointRef 00185 kSolverName, // String 00186 kAutoEnable, // BOOL 00187 kSwivel, // Angle 00188 kPosThresh, // Float 00189 kRotThresh, // Float 00190 kIteration, // Integer 00191 kEEDisplay, // BOOL 00192 kEESize, // Float 00193 kGoalDisplay, // BOOL 00194 kGoalSize, // Float 00195 kVHDisplay, // BOOL 00196 kVHSize, // Float 00197 kVHLength, // Float 00198 kSolverDisplay, // BOOL 00199 kAutoSnap, // BOOL 00200 kVHUseTarget, // BOOL 00201 kVHTarget, // INode 00202 kSAParent, // RadioBtn_Index 00203 kLastHIIKParam 00204 }; 00205 00210 enum SplineIKParams { 00211 // Paramter ids (of PB2) of Spline IK, i.e. that on which 00212 // GoalInterfaceID() == IKSys::kSplineIKGoalID. 00213 // 00214 // Following parameter ids are inherited from the HIIK 00215 // kStartJoint, 00216 // kEndJoint, 00217 // kSolverName, 00218 // kAutoEnable, 00219 // kEEDisplay, 00220 // kEESize, 00221 // kGoalDisplay, 00222 // kGoalSize, 00223 // kSolverDisplay, 00224 // kAutoSnap, 00225 // 00226 // Spline IK paramters start here: 00229 kPickShape = kLastHIIKParam, 00230 kTwistHStartDisplay, 00231 kTwistHEndDisplay, 00232 kTwistHStartSize, 00233 kTwistHEndSize, 00234 kTwistHStartLength, 00235 kTwistHEndLength, 00236 kTwistHStartAngle, 00237 kTwistHEndAngle, 00238 // kTwistHStartTarget, 00239 // kTwistHEndTarget, 00240 // kTwistHUseStartTarget, 00241 // kTwistHUseEndTarget, 00242 00243 //parameters below are in the first pop-up dialog box "Spline IK SOlver" 00251 kAutoSplineCreate, 00252 00253 kSplineTypeChoice, 00254 00259 kSplineKnotCount, 00260 00264 kCreateHelper, 00265 00272 kLinktoRootNode, 00273 kHelpersize, 00274 kHelperCentermarker, 00275 kHelperAxisTripod, 00276 kHelperCross, 00277 kHelperBox, 00278 kHelperScreensize, 00279 kHelperDrawontop, 00280 kUpnode, 00281 kUseUpnode, 00282 kLastSplineIKParam 00283 }; 00285 00286 enum SAParentSpace { 00287 kSAInGoal, 00288 kSAInStartJoint 00289 }; 00290 00291 00292 //Spline IK Specific methods. 00293 //CAUTION: The following methods, although meaningful only to 00294 // SplineIK solver are also accessible to HIIK and IKLimb solvers. 00295 // We have to implement them for these latter IKSolvers, with some 00296 // reasonable return values as return, so that they don't crash. 00297 00298 virtual float TwistHStartAngle(TimeValue, Interval&)=0; 00299 virtual float TwistHEndAngle(TimeValue, Interval&)=0; 00300 00301 // IK chain delimiters 00305 virtual INode* StartJoint() const =0; 00308 virtual INode* EndJoint() const =0; 00311 virtual INode* GetNode() const =0; 00312 00313 // Vector Handle 00314 // InitPlane/InitEEAxis are the normal and End Effector Axis at the 00315 // initial pose. They are represented in the parent space. 00316 // ChainNormal is the InitPlane represented in the object space: 00317 // InitPlane() == ChainNormal * StartJoint()->InittialRotation() 00336 virtual Point3 ChainNormal(TimeValue t, Interval& valid) =0; 00338 virtual Point3 InitPlane(TimeValue t) =0; 00340 virtual Point3 InitEEAxis(TimeValue t) =0; 00342 virtual float InitChainLength(TimeValue t) =0; 00346 virtual float SwivelAngle(TimeValue, Interval&)=0; 00352 virtual const IKSys::ZeroPlaneMap* 00353 DefaultZeroPlaneMap(TimeValue t) =0; 00357 virtual SAParentSpace SwivelAngleParent() const =0; 00358 00359 // Solver 00362 virtual IKSolver* Solver() const =0; 00363 00366 virtual bool SolverEnabled(TimeValue, Interval* =0)=0; 00371 virtual bool CanAutoEnable() const =0; 00376 virtual bool AutoEnableSet() const =0; 00380 virtual bool Valid() const =0; 00381 00382 // Return HIIKGOAL_ID or SPLINEIKGOAL_IK 00388 virtual Interface_ID GoalInterfaceID() const =0; 00392 virtual BaseInterface* AcquireGoal(TimeValue, Interval&, const Matrix3& parent_of_start_joint) =0; 00393 }; 00394 00395 namespace IKSys { 00396 enum DofAxis { 00397 TransX = 0, TransY, TransZ, 00398 RotX, RotY, RotZ, 00399 DofX = 0, DofY, DofZ 00400 }; 00401 enum JointType { 00402 SlidingJoint, 00403 RotationalJoint 00404 }; 00405 struct DofSet : public MaxHeapOperators { 00406 DofSet() : bits(0) {} 00407 DofSet(const DofSet& src) : bits(src.bits) {} 00408 void Add(DofAxis dn) { bits |= (1 << dn); } 00409 void Clear(DofAxis dn) { bits &= ~(unsigned(1 << dn)); } 00410 int Include(DofAxis dn) const { return bits & (1 << dn); } 00411 int Count() const; 00412 unsigned bits; 00413 }; 00414 inline int DofSet::Count() const 00415 { 00416 unsigned int ret; 00417 unsigned int b, i; 00418 for (b = bits, ret = 0, i = TransX; i <= RotZ; ++i) { 00419 if (b == 0) break; 00420 else if (b & 01u) { 00421 ret++; 00422 } 00423 b = b >> 1; 00424 } 00425 return ret; 00426 } 00427 }; // namespace IKSys 00428 // 00429 // IIKControl 00430 // 00441 class IIKControl: public MaxHeapOperators { 00442 public: 00443 typedef IKSys::DofAxis DofAxis; 00444 typedef IKSys::JointType JointType; 00445 typedef IKSys::DofSet DofSet; 00446 00447 //Queries 00455 virtual bool DofActive(DofAxis) const =0; 00460 virtual DofSet ActiveTrans() const =0; 00465 virtual DofSet ActiveRot() const =0; 00472 virtual DofSet ActiveDofs() const =0; 00481 virtual INodeTab IKChains(JointType) const =0; 00489 virtual bool DofLowerLimited(DofAxis) const =0; 00497 virtual bool DofUpperLimited(DofAxis) const =0; 00506 virtual Point2 DofLimits(DofAxis) const =0; 00510 virtual Point3 TransLowerLimits() const =0; 00514 virtual Point3 TransUpperLimits() const =0; 00517 virtual Point3 RotLowerLimits() const =0; 00520 virtual Point3 RotUpperLimits() const =0; 00533 virtual bool IKBound(TimeValue t, JointType jt)=0; 00537 virtual Control* FKSubController() const =0; 00540 virtual INode* GetNode() const =0; 00549 virtual Point3 PrefPosition(TimeValue t, Interval& validityInterval) =0; 00558 virtual Point3 PrefRotation(TimeValue t, Interval& validityInterval) =0; 00559 00560 // DOF values 00561 virtual Point3 TransValues(TimeValue, Interval* =0)=0; 00562 virtual Point3 RotValues(TimeValue, Interval* =0)=0; 00570 virtual void AssignTrans(const Point3&, const Interval&)=0; 00578 virtual void AssignRot(const Point3&, const Interval&)=0; 00587 virtual void AssignActiveTrans(const Point3&, const Interval&)=0; 00596 virtual void AssignActiveRot(const Point3&, const Interval&)=0; 00609 virtual void AssignActiveTrans(const DofSet&, const float[], 00610 const Interval&)=0; 00623 virtual void AssignActiveRot(const DofSet&, const float[], 00624 const Interval&)=0; 00630 virtual void SetTransValid(const Interval& valid) =0; 00636 virtual void SetRotValid(const Interval& valid) =0; 00642 virtual void SetTRValid(const Interval& valid) =0; 00651 virtual void SetPrefTrans(const Point3& val, TimeValue t =0) =0; 00660 virtual void SetPrefRot(const Point3& val, TimeValue t =0) =0; 00671 virtual void SetPrefTR(const Point3& trans, const Point3& rot, 00672 TimeValue t =0) =0; 00673 };