Detailed Description
- Description:
- This class is only available in release 5 or
later.
This class abstracts the data structure that the IK system pass to
the plugin solver. With it, an IK problem becomes a pure
mathematical one to the plugin solver.
A LinkChain starts with a
rootLink, followed by a number of 1D link. The rootLink has
a whole rotation (c.f. class RootLink in
ikHierarch.h), as represented by Euler angles of order XYZ, rotXYZ.
These angles may be marked as active or not. The RootLink exposes
the whole rotation to allow the solver to handle the start joint
specially.
The next 1D link is to be pivoted and aligned at the reference
frame that is offset from the rotation of the RootLink by
"rigidExtend".
#include <ikhierarchy.h>
List of all
members.
Constructor & Destructor Documentation
:links(0),linkCount(0) {}
Member Function Documentation
virtual void* GetInterface |
( |
ULONG |
i |
) |
const [inline, virtual] |
{ UNUSED_PARAM(i); return NULL; }
const Link& LinkOf |
( |
unsigned |
i |
) |
const [inline] |
Link& LinkOf |
( |
unsigned |
i |
) |
[inline] |
unsigned LinkCount |
( |
|
) |
const [inline] |
CoreExport int PreBone |
( |
unsigned |
i |
) |
const |
CoreExport unsigned Bone |
( |
unsigned |
i |
) |
const |
CoreExport void ReleaseIKGoal |
( |
|
) |
|
CoreExport void SetLinkCount |
( |
unsigned |
lc |
) |
[protected] |
Member Data Documentation