ikctrl.h

Go to the documentation of this file.

/**********************************************************************
 *<
    FILE:  ikctrl.h

    DESCRIPTION:  Inverse Kinematics Controllers

    CREATED BY:  Rolf Berteig

    HISTORY: 3-1-97

 *> Copyright (c) 1997, All Rights Reserved.
 **********************************************************************/
#pragma once

#include "ref.h"
#include "control.h"

#define IKMASTER_CLASSID        Class_ID(0xa91004be,0x9901fe83)
#define IKSLAVE_CLASSID         Class_ID(0xbe380a31,0x310dc9e4)

class IKMasterControl : public ReferenceTarget {
    public:
        Class_ID            ClassID() {return IKMASTER_CLASSID;}
        SClass_ID           SuperClassID() {return REF_TARGET_CLASS_ID;}

        virtual void        AddSlaveNode(INode *node)=0;
        virtual void        *GetMasterBase()=0;

        virtual void        SetPosThresh(float t)=0;
        virtual void        SetRotThresh(float t)=0;
        virtual void        SetIterations(int i)=0;
        virtual void        SetStartTime(TimeValue s)=0;
        virtual void        SetEndTime(TimeValue e)=0;

        virtual float       GetPosThresh()=0;
        virtual float       GetRotThresh()=0;
        virtual int         GetIterations()=0;
        virtual TimeValue   GetStartTime()=0;
        virtual TimeValue   GetEndTime()=0;

        virtual void RemoveIKChainControllers(TimeValue t)=0;
    };

class IKSlaveControl : public Control {
    public:
        Class_ID ClassID() {return IKSLAVE_CLASSID;}
        SClass_ID SuperClassID() {return CTRL_MATRIX3_CLASS_ID;}

        virtual IKMasterControl *GetMaster()=0;
        virtual void SetDOF(int which,BOOL onOff)=0;
        virtual void SetInitPos(Point3 pos)=0;
        virtual void SetInitRot(Point3 rot)=0;
        virtual void MakeEE(BOOL onOff,DWORD which,Point3 pos,Quat rot)=0;
    };

CoreExport IKMasterControl *CreateIKMasterControl();
CoreExport IKSlaveControl *CreateIKSlaveControl(IKMasterControl *master,INode *slaveNode);