MPxIkSolver Class Reference
[OpenMayaAnim - API module for animation, Proxy classes]

#include <MPxIkSolver.h>

List of all members.

---

Detailed Description

OBSOLETE CLASS: Base class for user defined IK solvers.

Deprecated:

This class is obsolete and will be removed in a future version of Maya. It has been replaced with the MPxIkSolverNode class.

This is the obsolete base class for writing user-defined IK solvers. Users must at least override the following methods in order to write a solver:

• doSolve
• solverTypeName
• isSingleChainOnly
• isPositionOnly
• hasJointLimitSupport
• hasUniqueSolution
• groupHandlesByTopology

To register a solver, write a creator method to return an instance of the user solver:

    userSolver::creator() {
        return new userSolver;
    }

The solver can then be registered using MFnPlugin::registerSolver.

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.

Public Member Functions
virtual	~MPxIkSolver ()
virtual MStatus	preSolve ()
virtual MStatus	doSolve ()
virtual MStatus	postSolve (MStatus)
virtual MString	solverTypeName () const
virtual bool	isSingleChainOnly () const
virtual bool	isPositionOnly () const
virtual bool	hasJointLimitSupport () const
virtual bool	hasUniqueSolution () const
virtual bool	groupHandlesByTopology () const
virtual MStatus	setFuncValueTolerance (double tolerance)
virtual MStatus	setMaxIterations (int value)
MIkHandleGroup *	handleGroup () const
virtual void	setHandleGroup (MIkHandleGroup *)
const MMatrix *	toWorldSpace () const
const MMatrix *	toSolverSpace () const
double	funcValueTolerance () const
int	maxIterations () const
virtual void	snapHandle (MObject &handle)
Protected Member Functions
MStatus	getJointAngles (MDoubleArray &) const
MStatus	setJointAngles (const MDoubleArray &)
void	setToRestAngles ()
	MPxIkSolver ()

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Constructor & Destructor Documentation

MPxIkSolver::~MPxIkSolver

(

)

[virtual]

Destructor. Local class data should be freed here.

MPxIkSolver::MPxIkSolver

(

)

[protected]

Constructor.

---

Member Function Documentation

MStatus MPxIkSolver::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 MPxIkSolver::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

MStatus MPxIkSolver::postSolve

(

MStatus

stat

)

[virtual]

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 MPxIkSolver::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

bool MPxIkSolver::isSingleChainOnly

(

)

const [virtual]

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:

• true This is a single chain solver
• false This is not a single chain solver

bool MPxIkSolver::isPositionOnly

(

)

const [virtual]

Indicates whether the solver supports handle orientation. This method must be overriden to reflect the users solver.

Returns:

• true the solver does not support handle orientation
• false the solver supports handle orientation

bool MPxIkSolver::hasJointLimitSupport

(

)

const [virtual]

This method indicates whether the solver supports limits on joint angles. This method must be overriden to reflect the users solver.

Returns:

• true solver supports joint limits
• false solver does not support joint limits

bool MPxIkSolver::hasUniqueSolution

(

)

const [virtual]

This method indicates whether the solver provides a unique solution. This method must be overriden to reflect the users solver.

Returns:

• true solver has a unique solution
• false solver does not have a unique solution

bool MPxIkSolver::groupHandlesByTopology

(

)

const [virtual]

Indicates whether the IK system should group handles according to skeletal topology. This method must be overriden to reflect the users solver.

Returns:

• true solver groups handles by topology
• false solver does not groups handles by topology

MStatus MPxIkSolver::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 MPxIkSolver::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 * MPxIkSolver::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 MPxIkSolver::setHandleGroup

(

MIkHandleGroup *

group

)

[virtual]

Set the handle group of this solver.

Parameters:

[in]

group

The handle group to be set

const MMatrix * MPxIkSolver::toWorldSpace

(

)

const

Returns the world space matrix for this solver.

Returns:

The world space matrix

const MMatrix * MPxIkSolver::toSolverSpace

(

)

const

Returns the local space matrix for this solver.

Returns:

The local space matrix

double MPxIkSolver::funcValueTolerance

(

)

const

Return the error value for this solver.

Returns:

The error value

int MPxIkSolver::maxIterations

(

)

const

Return the the maximum nuber of itertations for a solution by this solver.

Returns:

The maximum number of iterations

void MPxIkSolver::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

MStatus MPxIkSolver::getJointAngles

(

MDoubleArray &

angles

)

const [protected]

Returns the joint angles.

Parameters:

[out]

angles

The array of doubles to hold the angles.

Returns:

• MS::kSuccess The operation was successfull.
• MS::kFailure The operation failed.

MStatus MPxIkSolver::setJointAngles

(

const MDoubleArray &

angles

)

[protected]

Set joint angles to the given values.

Parameters:

[in]

angles

The array of angles to set the joints to.

Returns:

• MS::kSucces the joint angles were set
• MS::kFailure the joint angles were not set

void MPxIkSolver::setToRestAngles

(

)

[protected]

Sets all joints to thier prefered orientations.