iksolver.h

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/**********************************************************************
*<
FILE: IKSolver.h

DESCRIPTION:  IK Solver Class definition

CREATED BY: Jianmin Zhao

HISTORY: created 16 March 2000

*>  Copyright (c) 1994, All Rights Reserved.
**********************************************************************/
#pragma once

#include "plugapi.h"
#include "IKHierarchy.h"
// forward declarations

class IKSolver  : public BaseInterfaceServer {
public:
    typedef unsigned    ReturnCondition;
    enum ConditionBit {
        bLimitReached =         0x00000001,
        bLimitClamped =         0x00000002,
        bMaxIterationReached =  0x00000004,
        // The first eight bits are reserved for mild condition.
        // They are still considered successful.
        bGoalTooCloseToEE =     0x00000100,
        bInvalidArgument =      0x00000200,
        bInvalidInitialValue =  0x00000400
    };
    // Plugins derived from this class are supposed to have this super class id.
    virtual SClass_ID SuperClassID() {return IK_SOLVER_CLASS_ID;}
    virtual Class_ID ClassID() =0;
    virtual void GetClassName(MSTR& s) { s= MSTR(_M("IKSolver")); }  
    virtual ~IKSolver(){}

    // History independent solver does need time input.
    virtual bool        IsHistoryDependent() const =0;
    virtual bool        DoesOneChainOnly() const =0;
    // Interactive solver does need initial pose. It needs current pose.
    virtual bool        IsInteractive() const =0;
    virtual bool        UseSlidingJoint() const =0;
    virtual bool        UseSwivelAngle() const =0;
    // Solutions of an analytic solver is not dependent on Pos/Rot threshold
    // or MaxInteration number.
    virtual bool        IsAnalytic() const { return false; }
    // The result will be simply clamped into joint limits by the ik system
    // if the solver does not do joint limits.
    virtual bool        DoesRootJointLimits() const { return false;}
    virtual bool        DoesJointLimitsButRoot() const { return false;}

    // The interface ID that this solver is equipped to solve.
    virtual Interface_ID ExpectGoal() const =0;
    // RotThreshold() is not relevant to solver that does not SolveEERotation().
    // UseSwivelAngle() and SolveEERotation() cannot both be true.
    virtual bool        SolveEERotation() const =0;
    // A solver may have its own zero map. If so, the IK system may want
    // to know through this method.
#pragma warning(push)
#pragma warning(disable:4100)
    virtual const IKSys::ZeroPlaneMap* GetZeroPlaneMap(const Point3& a0, const Point3& n0) const { return NULL; }
#pragma warning(pop)

    virtual float       GetPosThreshold() const =0;
    virtual float       GetRotThreshold() const =0;
    virtual unsigned    GetMaxIteration() const =0;
    virtual void        SetPosThreshold(float) =0;
    virtual void        SetRotThreshold(float) =0;
    virtual void        SetMaxIteration(unsigned) =0;
    // The derived class should override this method if it answers true
    // to DoesOneChainOnly() and false to HistoryDependent().
    // The solver is not designed to be invoked recursively. The
    // recursion logic existing among the ik chains is taken care of by
    // the Max IK (sub-)System.
    virtual ReturnCondition Solve(IKSys::LinkChain&) =0;
};