This reference page is linked to from the following overview topics: IK Concepts, IIKChainControl.
Detailed Description
- See also:
- : Class IKCmdOps, Class IKChainActions
- Description:
- This class is only available in release 5 or
later.
The interface class to TM controller that the IK chain node employs. Suppose node is an IK chain node, following code obtains the interface pointer:
From this pointer, we can get all properties pertinent to an IK Chain.IIKChainControl* ikchain = (IIKChainControl*) node->GetTMController()->GetInterface(I_IKChainControl);
#include <iiksys.h>
Inheritance diagram for
IIKChainControl:
Public Types |
|
| enum | { kPBlockRef = 0, kGoalTMRef, kEndJointRef, kEnableRef, kStartJointRef, kOwningNodeRef, kLastRef } |
| enum | { kParamBlock, kNumParamBlocks } |
| enum | { kStartJoint, kEndJoint, kSolverName, kAutoEnable, kSwivel, kPosThresh, kRotThresh, kIteration, kEEDisplay, kEESize, kGoalDisplay, kGoalSize, kVHDisplay, kVHSize, kVHLength, kSolverDisplay, kAutoSnap, kVHUseTarget, kVHTarget, kSAParent, kLastHIIKParam } |
| enum | SplineIKParams
{ kPickShape = kLastHIIKParam, kTwistHStartDisplay, kTwistHEndDisplay, kTwistHStartSize, kTwistHEndSize, kTwistHStartLength, kTwistHEndLength, kTwistHStartAngle, kTwistHEndAngle, kAutoSplineCreate, kSplineTypeChoice, kSplineKnotCount, kCreateHelper, kLinktoRootNode, kHelpersize, kHelperCentermarker, kHelperAxisTripod, kHelperCross, kHelperBox, kHelperScreensize, kHelperDrawontop, kUpnode, kUseUpnode, kLastSplineIKParam } |
| enum | SAParentSpace { kSAInGoal, kSAInStartJoint } |
Public Member Functions |
|
| virtual float | TwistHStartAngle (TimeValue, Interval &)=0 |
| virtual float | TwistHEndAngle (TimeValue, Interval &)=0 |
| virtual INode * | StartJoint () const =0 |
| virtual INode * | EndJoint () const =0 |
| virtual INode * | GetNode () const =0 |
| virtual Point3 | ChainNormal (TimeValue t, Interval &valid)=0 |
| virtual Point3 | InitPlane (TimeValue t)=0 |
| virtual Point3 | InitEEAxis (TimeValue t)=0 |
| virtual float | InitChainLength (TimeValue t)=0 |
| virtual float | SwivelAngle (TimeValue, Interval &)=0 |
| The swivel angle at time. |
|
| virtual const IKSys::ZeroPlaneMap * | DefaultZeroPlaneMap (TimeValue t)=0 |
| The zero plane is the plane that, at each
"start joint to end joint" axis, is used as a reference plane with
regard to that the swivel angle is defined. |
|
| virtual SAParentSpace | SwivelAngleParent () const =0 |
| Whether the zero plane is defined in the
parent space of the start joint, kSAInStartJoint, or in the
space of the IK goal, kSAInGoal. |
|
| virtual IKSolver * | Solver () const =0 |
| The solver that is assigned to this chain.
|
|
| virtual bool | SolverEnabled (TimeValue, Interval *=0)=0 |
| Whether the solver is enabled (IK mode) or
not (FK mode). |
|
| virtual bool | CanAutoEnable () const =0 |
| When the chain is in the FK mode, IK can
still be invoked when the goal is moved interactively if
CanAutoEnabled() is true. |
|
| virtual bool | AutoEnableSet () const =0 |
| It is a transient state that is alive only
at the time when joint angles are to be updated. |
|
| virtual bool | Valid () const =0 |
| Whether this chain is a valid one. |
|
| virtual Interface_ID | GoalInterfaceID () const =0 |
| What IK goal interface this chain is
prepaired for. |
|
| virtual BaseInterface * | AcquireGoal (TimeValue, Interval &, const Matrix3 &parent_of_start_joint)=0 |
| It returns an interface to the goal at the
time. |
|
Member Enumeration Documentation
| anonymous enum |
{
kPBlockRef = 0, // ParamBlock
kGoalTMRef, // Matrix3 controller
kEndJointRef, // INode
kEnableRef, // Bool (float) controller
kStartJointRef, // INode
kOwningNodeRef, // Reference on a NodeMonitor that holds an indirect reference on the owning Node
kLastRef
};
| anonymous enum |
{
kParamBlock,
kNumParamBlocks
};
| anonymous enum |
- Enumerator:
{
kStartJoint, // INode, referenced by kStartJointRef
kEndJoint, // INode, referenced by kEndJointRef
kSolverName, // String
kAutoEnable, // BOOL
kSwivel, // Angle
kPosThresh, // Float
kRotThresh, // Float
kIteration, // Integer
kEEDisplay, // BOOL
kEESize, // Float
kGoalDisplay, // BOOL
kGoalSize, // Float
kVHDisplay, // BOOL
kVHSize, // Float
kVHLength, // Float
kSolverDisplay, // BOOL
kAutoSnap, // BOOL
kVHUseTarget, // BOOL
kVHTarget, // INode
kSAParent, // RadioBtn_Index
kLastHIIKParam
};
| enum SAParentSpace |
{
kSAInGoal,
kSAInStartJoint
};
Member Function Documentation
| virtual float TwistHStartAngle | ( | TimeValue | , |
| Interval & | |||
| ) | [pure virtual] |
| virtual float TwistHEndAngle | ( | TimeValue | , |
| Interval & | |||
| ) | [pure virtual] |
| virtual INode* StartJoint | ( | ) | const [pure virtual] |
- Remarks:
- The start joint, end joint of the chain, and the node to that
this IK chain controller belongs.
| virtual INode* EndJoint | ( | ) | const [pure virtual] |
- Remarks:
- Please refer to StartJoint().
| virtual INode* GetNode | ( | ) | const [pure virtual] |
- Remarks:
- Please refer to StartJoint().
- Remarks:
- Preferred angles are used to start the IK iteration. Hence, the
pose when joint angles assume the preferred angles is also called
the Initial Pose in the context of IK. It is animatable, meaning
that at different time, IK may start iteration from different
poses.
Let's call the plane that the joints of an IK chain the (IK) solver plane. InitPlane() and InitEEAxis() returns the normal to the solver plane and the axis from the start joint to the end joint (end-effector axis) at the initial (preferred angle) pose, at time of input argument. They are represented in the parent space of the start joint. ChainNormal() returns the normal in the object space, as
InitPlane() == ChainNormal() * startIKCont->PrefRotation()
where
startIKCont = (IIKControl*)StartJoint()->GetController()->GetInterface(I_IKControl);
Furthermore, ChainNormal() takes as an input argument a validity interval that will be intersected by the validity interval of the chain normal.
| virtual Point3 InitPlane | ( | TimeValue | t | ) | [pure virtual] |
- Remarks:
- Please refer to ChainNormal().
| virtual Point3 InitEEAxis | ( | TimeValue | t | ) | [pure virtual] |
- Remarks:
- Please refer to ChainNormal().
| virtual float InitChainLength | ( | TimeValue | t | ) | [pure virtual] |
- Remarks:
- Please refer to ChainNormal().
| virtual float SwivelAngle | ( | TimeValue | , |
| Interval & | |||
| ) | [pure virtual] |
The swivel angle at time.
The validity interval, valid, will be intersected.
| virtual const IKSys::ZeroPlaneMap* DefaultZeroPlaneMap | ( | TimeValue | t | ) | [pure virtual] |
The zero plane is the plane that, at each "start joint to end joint" axis, is used as a reference plane with regard to that the swivel angle is defined.
The zero plane map maps an axis to a plane normal. The IK system
offers as a possible default via
DefaultZeroPlaneMap().
| virtual SAParentSpace SwivelAngleParent | ( | ) | const [pure virtual] |
Whether the zero plane is defined in the parent space of the start joint, kSAInStartJoint, or in the space of the IK goal, kSAInGoal.
| virtual IKSolver* Solver | ( | ) | const [pure virtual] |
| virtual bool SolverEnabled | ( | TimeValue | , |
| Interval * | = 0 |
||
| ) | [pure virtual] |
| virtual bool CanAutoEnable | ( | ) | const [pure virtual] |
When the chain is in the FK mode, IK can still be invoked when the goal is moved interactively if CanAutoEnabled() is true.
It is a PB2 parameter of index kAutoEnable. It is not
animatable.
| virtual bool AutoEnableSet | ( | ) | const [pure virtual] |
It is a transient state that is alive only at the time when joint angles are to be updated.
Being true means that the Enabled state of the chain is off the
IK is turned on by interactive manipulation.
| virtual bool Valid | ( | ) | const [pure virtual] |
Whether this chain is a valid one.
It is valid if it is assigned a proper IK solver and it has
valid start joint and end joint.
| virtual Interface_ID GoalInterfaceID | ( | ) | const [pure virtual] |
What IK goal interface this chain is prepaired for.
For now, there are two interfaces: HI IK goal (IHIIKGoal)
and Spline IK goal (ISplineIKGoal). An IK chain will admit
of plugin solvers that support this goal interface
(IKSolver::ExpectGoal()).
| virtual BaseInterface* AcquireGoal | ( | TimeValue | , |
| Interval & | , | ||
| const Matrix3 & | parent_of_start_joint | ||
| ) | [pure virtual] |
It returns an interface to the goal at the time.
Validity interval is reconciled. The parent matrix of the start joint is also returned in the third argument.
