This reference page is linked to from the following overview topics: Parent class descriptions.
Detailed Description
Base class for user defined IK solvers.
This is the base class for writing user-defined IK solvers. Users must at least override the following methods in order to write a solver:
- doSolve
- solverTypeName
Note that the following virtual methods (declared in MPxNode) are irrelevant for the MPxIkSolverNode. If these methods are overridden in a class derived from MPxIkSolverNode, they will be ignored.
- compute
- getInternalValue
- setInternalValue
- legalConnection
- legalDisconnection
- connectionMade
- connectionBroken
A creator method is necessary to return an instance of the user solver:
userSolver::creator() {
return new userSolver;
}
In order to create and register the solver, execute the mel command:
createNode userSolver;
Once the solver is registered it can be assigned to IK handles and its solve methods will be called in the same manner as the solvers within Maya.
- Examples:
#include <MPxIkSolverNode.h>
Public Member Functions |
|
| virtual | ~MPxIkSolverNode () |
| Destructor. |
|
| virtual MPxNode::Type | type () const |
| This method returns the type of the node.
|
|
| virtual MStatus | preSolve () |
| This method is called before doSolve.
|
|
| virtual MStatus | doSolve () |
| This is where the main solving takes place.
|
|
| virtual MStatus | postSolve (MStatus) |
| This method is called after doSolve
has finished. |
|
| virtual MString | solverTypeName () const |
| This method returns the type name of the
solver. |
|
| bool | rotatePlane (MStatus *ReturnStatus=NULL) const |
| This method indicates whether this solver
supports the rotate plane. |
|
| MStatus | setRotatePlane (bool rotatePlane) |
| This method sets whether or not this solver
supports the rotate plane. |
|
| bool | singleChainOnly (MStatus *ReturnStatus=NULL) const |
| This method indicates whether this solver is
a single chain solver. |
|
| MStatus | setSingleChainOnly (bool singleChainOnly) |
| This method sets whether or not this solver
is a single chain solver. |
|
| bool | positionOnly (MStatus *ReturnStatus=NULL) const |
| Indicates whether the ik solution is
dependent on the ikHandle position only or also uses the
orientation. |
|
| MStatus | setPositionOnly (bool positionOnly) |
| Sets whether or not the solver supports
handle orientation. |
|
| bool | supportJointLimits (MStatus *ReturnStatus=NULL) const |
| This method indicates whether the solver
supports limits on joint angles. |
|
| MStatus | setSupportJointLimits (bool supportJointLimits) |
| This method sets whether or not the solver
supports limits on joint angles. |
|
| bool | uniqueSolution (MStatus *ReturnStatus=NULL) const |
| This method indicates whether the solver
provides a unique solution. |
|
| MStatus | setUniqueSolution (bool uniqueSolution) |
| This method sets whether or not the solver
provides a unique solution. |
|
| virtual bool | isSingleChainOnly () const |
| This method is obsolete. |
|
| virtual bool | isPositionOnly () const |
| This method is obsolete. |
|
| virtual bool | hasJointLimitSupport () const |
| This method is obsolete. |
|
| virtual bool | hasUniqueSolution () const |
| This method is obsolete. |
|
| virtual bool | groupHandlesByTopology () const |
| This method is obsolete. |
|
| virtual MStatus | setFuncValueTolerance (double tolerance) |
| Set the error value for this solver.
|
|
| virtual MStatus | setMaxIterations (int value) |
| Set the maximum iterations for a solution by
this solver. |
|
| MIkHandleGroup * | handleGroup () const |
| Returns the handle group for this solver.
|
|
| virtual void | setHandleGroup (MIkHandleGroup *) |
| Set the handle group of this solver.
|
|
| const MMatrix * | toWorldSpace () const |
| Returns the world space matrix for this
solver. |
|
| const MMatrix * | toSolverSpace () const |
| Returns the local space matrix for this
solver. |
|
| double | funcValueTolerance () const |
| Return the error value for this solver.
|
|
| int | maxIterations () const |
| Return the the maximum nuber of itertations
for a solution by this solver. |
|
| virtual void | snapHandle (MObject &handle) |
| This function positions the handle at the
end effector position. |
|
Static Public Member Functions |
|
| static const char * | className () |
| Returns the name of this class. |
|
Protected Member Functions |
|
| MStatus | getJointAngles (MDoubleArray &) const |
| This method is not available in
Python. |
|
| MStatus | setJointAngles (const MDoubleArray &) |
| This method is not available in
Python. |
|
| void | setToRestAngles () |
| This method is not available in
Python. |
|
| MPxIkSolverNode () | |
| Constructor. |
|
Member Function Documentation
| MPxNode::Type type | ( | ) | const [virtual] |
This method returns the type of the node.
This method should not be overridden by the user. It will return MPxNode::kIkSolverNode.
- Returns:
- The type of node
- Status Codes:
-
- MS::kSuccess The undo was successful
- MS::kFailure This method is not undoable
Reimplemented from MPxNode.
| MStatus preSolve | ( | ) | [virtual] |
This method is called before doSolve.
Users should override this method if there is any preprocessing that needs to be done before solving..
- Returns:
- The status code which indicates if the pre-processing was successful
| MStatus doSolve | ( | ) | [virtual] |
This is where the main solving takes place.
The user must override this method.
The purpose of this method is to calculate joint angles in a skeleton based upon the position of the end effector of the handle associated with this solver.
- Returns:
- The status code which indicates if the solver was successful
- Examples:
- simpleSolverNode.cpp.
This method is called after doSolve has finished.
The user should override this method if there are any post calculations to be done.
The status argument indicates whether doSolve was successful.
- Parameters:
-
[out] stat The status returned from doSolve
- Returns:
- Status code to indicate whether the post calculations were successful
| MString solverTypeName | ( | ) | const [virtual] |
This method returns the type name of the solver.
The user must override this method in order for the solver to be identifiable when it is registered.
Once the solver is registered, the type name can be used to assign the solver to an IK handle.
- Returns:
- The type name of this solver
- Examples:
- simpleSolverNode.cpp.
| bool rotatePlane | ( | MStatus * | ReturnStatus =
NULL |
) | const |
This method indicates whether this solver supports the rotate plane.
Solvers that support the rotate plane allow the user to manipulate the IK handle's pole vector with the rotate plane manipulators.
- Parameters:
-
[in] ReturnStatus Status code.
- Returns:
- Boolean value: true if the solver supports the rotate plane, false otherwise.
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| MStatus setRotatePlane | ( | bool | rotatePlane | ) |
This method sets whether or not this solver supports the rotate plane.
Solvers that support the rotate plane allow the user to manipulate the IK handle's pole vector with the rotate plane manipulators.
- Parameters:
-
[in] rotatePlane whether or not the solver supports the rotate plane
- Returns:
- Status code
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| bool singleChainOnly | ( | MStatus * | ReturnStatus =
NULL |
) | const |
This method indicates whether this solver is a single chain solver.
Single chain solvers are solvers which act on one handle only, i.e. the handle groups have only one handle if they are for single chain solvers.
- Parameters:
-
[in] ReturnStatus Status code.
- Returns:
- Boolean value: true if the solver is a single chain solver, false otherwise.
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| MStatus setSingleChainOnly | ( | bool | singleChainOnly | ) |
This method sets whether or not this solver is a single chain solver.
Single chain solvers are solvers which act on one handle only, i.e. the handle groups have only one handle if they are for single chain solvers.
- Parameters:
-
[in] singleChainOnly whether or not the solver is a single chain solver
- Returns:
- Status code
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| bool positionOnly | ( | MStatus * | ReturnStatus =
NULL |
) | const |
Indicates whether the ik solution is dependent on the ikHandle position only or also uses the orientation.
- Parameters:
-
[in] ReturnStatus Status code.
- Returns:
- Boolean value: true if the solver does not support handle orientation, false otherwise
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| MStatus setPositionOnly | ( | bool | positionOnly | ) |
Sets whether or not the solver supports handle orientation.
- Parameters:
-
[in] positionOnly whether or not the solver is positionOnly
- Returns:
- Status code
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| bool supportJointLimits | ( | MStatus * | ReturnStatus =
NULL |
) | const |
This method indicates whether the solver supports limits on joint angles.
- Parameters:
-
[in] ReturnStatus Status code.
- Returns:
- Boolean value. true if the solver supports limits on joint angles, false otherwise.
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| MStatus setSupportJointLimits | ( | bool | supportJointLimits | ) |
This method sets whether or not the solver supports limits on joint angles.
- Parameters:
-
[in] supportJointLimits whether or not the solver supports joint limits
- Returns:
- Status code
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| bool uniqueSolution | ( | MStatus * | ReturnStatus =
NULL |
) | const |
This method indicates whether the solver provides a unique solution.
- Parameters:
-
[in] ReturnStatus Status code.
- Returns:
- Boolean value: true if the solver provides a unique solution, false otherwise.
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| MStatus setUniqueSolution | ( | bool | uniqueSolution | ) |
This method sets whether or not the solver provides a unique solution.
- Parameters:
-
[in] uniqueSolution whether or not the solver provides a unique solution
- Returns:
- Status code
- Status Codes:
-
- MS::kSuccess operation successful
- MS::kFailure operation failed
| bool isSingleChainOnly | ( | ) | const [virtual] |
This method is obsolete.
This method indicates whether this solver is a single chain solver. Single chain solvers are solvers which act on one handle only, i.e. the handle groups have only one handle if they are for single chain solvers.
- Returns:
- Boolean value true if this is a single chain solver, false otherwise.
| bool isPositionOnly | ( | ) | const [virtual] |
This method is obsolete.
Indicates whether the solver supports handle orientation. This method must be overriden to reflect the users solver.
- Returns:
- Boolean value true if solver does not support handle orientation, false otherwise.
| bool hasJointLimitSupport | ( | ) | const [virtual] |
This method is obsolete.
This method indicates whether the solver supports limits on joint angles. This method must be overriden to reflect the users solver.
- Returns:
- Boolean value true if solver supports joint limits, false otherwise.
| bool hasUniqueSolution | ( | ) | const [virtual] |
This method is obsolete.
This method indicates whether the solver provides a unique solution. This method must be overriden to reflect the users solver.
- Returns:
- Boolean value true if solver has a unique solution, false otherwise.
| bool groupHandlesByTopology | ( | ) | const [virtual] |
This method is obsolete.
Indicates whether the IK system should group handles according to skeletal topology. This method must be overriden to reflect the users solver.
- Returns:
- Boolean value true if solver hgroups handles by topology, false otherwise.
| MStatus setFuncValueTolerance | ( | double | tolerance | ) | [virtual] |
Set the error value for this solver.
The user can override this if any other calcluations should be done here.
- Parameters:
-
[in] tolerance Error value
- Returns:
- Status code
| MStatus setMaxIterations | ( | int | value | ) | [virtual] |
Set the maximum iterations for a solution by this solver.
The user can override this if any other calcluations should be done here.
- Parameters:
-
[in] value value to set
- Returns:
- Status code
| MIkHandleGroup * handleGroup | ( | ) | const |
Returns the handle group for this solver.
The handle group provides access to handles associated with the solver.
- Returns:
- A pointer to the IK handle group for this solver
| void setHandleGroup | ( | MIkHandleGroup * | group | ) | [virtual] |
Set the handle group of this solver.
- Parameters:
-
[in] group The handle group to be set
| const MMatrix * toWorldSpace | ( | ) | const |
Returns the world space matrix for this solver.
- Returns:
- The world space matrix
| const MMatrix * toSolverSpace | ( | ) | const |
Returns the local space matrix for this solver.
- Returns:
- The local space matrix
| double funcValueTolerance | ( | ) | const |
| int maxIterations | ( | ) | const |
Return the the maximum nuber of itertations for a solution by this solver.
- Returns:
- The maximum number of iterations
| void snapHandle | ( | MObject & | handle | ) | [virtual] |
This function positions the handle at the end effector position.
The user can override this method.
- Parameters:
-
[in] handle handle to be set
| const char * className | ( | ) | [static] |
| MStatus getJointAngles | ( | MDoubleArray & | angles | ) | const [protected] |
This method is not available in Python.
Returns the joint angles. Use MPxIkSolverNode::_getJointAngles in scripts.
- Parameters:
-
[out] angles The array of doubles to hold the angles.
- Returns:
- Status code
- Status Codes:
-
- MS::kSuccess The operation was successfull.
- MS::kFailure The operation failed.
| MStatus setJointAngles | ( | const MDoubleArray & | angles | ) | [protected] |
This method is not available in Python.
Set joint angles to the given values. Use MPxIkSolverNode::_setJointAngles in scripts.
- Parameters:
-
[in] angles The array of angles to set the joints to.
- Returns:
- Status code
- Status Codes:
-
- MS::kSucces the joint angles were set
- MS::kFailure the joint angles were not set
| void setToRestAngles | ( | ) | [protected] |
This method is not available in Python.
Sets all joints to thier prefered orientations. Use MPxIkSolverNode::_setToRestAngles in scripts.
