class MFnIkHandle

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Inheritance:

MFnIkHandle < MFnTransform < MFnDagNode < MFnDependencyNode < MFnBase

public members:

	MFnIkHandle ( const MObject & object, MStatus * ReturnStatus = NULL )
enum	Stickiness kStickyOff kStickyOn kSuperSticky
MObject	create ( MDagPath & startJoint, MDagPath & effector, MStatus * ReturnStatus = NULL )
MStatus	getStartJoint ( MDagPath &jointPath )
MStatus	setStartJoint ( const MDagPath &jointPath )
MStatus	getEffector ( MDagPath &effectorPath )
MStatus	setEffector ( const MDagPath &effectorPath )
MStatus	setStartJointAndEffector ( const MDagPath &jointPath, const MDagPath &effectorPath )
unsigned int	priority ( MStatus * ReturnStatus = NULL )
MStatus	setPriority ( unsigned int priority )
Stickiness	stickiness ( MStatus * ReturnStatus = NULL )
MStatus	setStickiness ( Stickiness stickiness )
double	weight ( MStatus * ReturnStatus = NULL )
MStatus	setWeight ( double weight )
double	poWeight ( MStatus * ReturnStatus = NULL )
MStatus	setPOWeight ( double weight )
MObject	solver ( MStatus * ReturnStatus = NULL )
MStatus	setSolver ( const MObject & solver )
MStatus	setSolver ( const MString & solverName )

Inherited from MFnTransform:

public members:

MObject	create ( MObject parent = MObject::kNullObj , MStatus * ReturnStatus = NULL )
MTransformationMatrix	transformation ( MStatus * ReturnStatus = NULL ) const
MStatus	set ( const MTransformationMatrix & transform )
MStatus	getScale ( double scale[3] ) const
MStatus	setScale ( const double scale[3] )
MStatus	scaleBy ( const double scale[3] )
MStatus	getShear ( double scale[3] ) const
MStatus	setShear ( const double shear[3] )
MStatus	shearBy ( const double shear[3] )
MStatus	getRotation ( MQuaternion &quaternion, MSpace::Space = MSpace::kTransform ) const
MStatus	setRotation ( const MQuaternion &quaternion, MSpace::Space = MSpace::kTransform )
MStatus	rotateBy ( const MQuaternion &quaternion, MSpace::Space = MSpace::kTransform )
MStatus	getRotation ( MEulerRotation &rotation ) const
MStatus	setRotation ( const MEulerRotation &rotation )
MStatus	rotateBy ( const MEulerRotation &rotation, MSpace::Space = MSpace::kTransform )
MStatus	getRotationQuaternion ( double &x, double &y, double &z, double &w, MSpace::Space = MSpace::kTransform ) const
MStatus	setRotationQuaternion ( double x, double y, double z, double w, MSpace::Space = MSpace::kTransform )
MStatus	rotateByQuaternion ( double x, double y, double z, double w, MSpace::Space = MSpace::kTransform )
MStatus	getRotation ( double rotation[3], MTransformationMatrix::RotationOrder & order ) const
MStatus	setRotation ( const double rotation[3], MTransformationMatrix::RotationOrder order )
MStatus	rotateBy ( const double rotation[3], MTransformationMatrix::RotationOrder order, MSpace::Space = MSpace::kTransform )
MVector	getTranslation ( MSpace::Space space, MStatus * ReturnStatus = NULL ) const
MStatus	setTranslation ( const MVector & vec, MSpace::Space space )
MStatus	translateBy ( const MVector & vec, MSpace::Space space )
MPoint	scalePivot ( MSpace::Space space, MStatus * ReturnStatus = NULL ) const
MStatus	setScalePivot ( const MPoint & point, MSpace::Space space, bool balance )
MVector	scalePivotTranslation ( MSpace::Space space , MStatus * ReturnStatus = NULL ) const
MStatus	setScalePivotTranslation ( const MVector & vec, MSpace::Space space )
MPoint	rotatePivot ( MSpace::Space space , MStatus * ReturnStatus = NULL ) const
MStatus	setRotatePivot ( const MPoint & point, MSpace::Space space, bool balance )
MVector	rotatePivotTranslation ( MSpace::Space space, MStatus * ReturnStatus = NULL ) const
MStatus	setRotatePivotTranslation ( const MVector & vec, MSpace::Space space )
MQuaternion	rotateOrientation ( MSpace::Space space , MStatus * ReturnStatus = NULL ) const
MStatus	setRotateOrientation ( const MQuaternion & quat, MSpace::Space space, bool balance )
MTransformationMatrix::RotationOrder	rotationOrder ( MStatus * ReturnStatus = NULL ) const
MStatus	setRotationOrder ( MTransformationMatrix::RotationOrder order, bool reorder )
MTransformationMatrix	restPosition ( MStatus * ReturnStatus) const
MStatus	setRestPosition ( const MTransformationMatrix & matrix )
MStatus	resetFromRestPosition ()
MStatus	clearRestPosition ()
MStatus	getRotation ( double rotation[3], MTransformationMatrix::RotationOrder & order, MSpace::Space ) const
MStatus	setRotation (const double rotation[3], MTransformationMatrix::RotationOrder order, MSpace::Space )
MVector	translation ( MSpace::Space space, MStatus * ReturnStatus = NULL ) const
enum	LimitType kScaleMinX kScaleMaxX kScaleMinY kScaleMaxY kScaleMinZ kScaleMaxZ kShearMinXY kShearMaxXY kShearMinXZ kShearMaxXZ kShearMinYZ kShearMaxYZ kRotateMinX kRotateMaxX kRotateMinY kRotateMaxY kRotateMinZ kRotateMaxZ kTranslateMinX kTranslateMaxX kTranslateMinY kTranslateMaxY kTranslateMinZ kTranslateMaxZ
bool	isLimited ( MFnTransform::LimitType type , MStatus * ReturnStatus = NULL ) const
double	limitValue ( MFnTransform::LimitType type , MStatus * ReturnStatus = NULL ) const
MStatus	setLimit ( MFnTransform::LimitType type , double value)
MStatus	enableLimit ( MFnTransform::LimitType type , bool flag)

Inherited from MFnDagNode:

public members:

	kNextPos
MObject	create ( const MTypeId &typeId, MObject & parent = MObject::kNullObj , MStatus * ReturnStatus = NULL )
MObject	create ( const MTypeId &typeId, const MString &name, MObject & parent = MObject::kNullObj , MStatus * ReturnStatus = NULL )
MObject	create ( const MString &type, MObject & parent = MObject::kNullObj , MStatus * ReturnStatus = NULL )
MObject	create ( const MString &type, const MString &name, MObject & parent = MObject::kNullObj , MStatus * ReturnStatus = NULL )
unsigned int	parentCount ( MStatus * ReturnStatus = NULL ) const
MObject	parent ( unsigned int i, MStatus * ReturnStatus = NULL ) const
MStatus	addChild ( MObject & child , unsigned int index = kNextPos , bool keepExistingParents = false )
MStatus	removeChild ( MObject & child )
MStatus	removeChildAt ( unsigned int index )
unsigned int	childCount ( MStatus * ReturnStatus = NULL ) const
MObject	child ( unsigned int i, MStatus * ReturnStatus = NULL ) const
MObject	dagRoot ( MStatus * ReturnStatus = NULL )
bool	hasParent ( const MObject & node, MStatus * ReturnStatus = NULL ) const
bool	hasChild (const MObject & node, MStatus * ReturnStatus = NULL ) const
bool	isChildOf (const MObject & node, MStatus * ReturnStatus = NULL ) const
bool	isParentOf (const MObject & node, MStatus * ReturnStatus = NULL ) const
bool	inUnderWorld ( MStatus * ReturnStatus = NULL ) const
bool	inModel ( MStatus * ReturnStatus = NULL ) const
bool	isInstanceable ( MStatus * ReturnStatus=NULL ) const
MStatus	setInstanceable ( const bool how )
bool	isInstanced ( bool indirect = true, MStatus * ReturnStatus = NULL ) const
bool	isInstancedAttribute ( const MObject & attr, MStatus * ReturnStatus = NULL ) const
unsigned int	instanceCount ( bool total, MStatus * ReturnStatus = NULL ) const
MObject	duplicate ( bool instance = false, bool instanceLeaf = false, MStatus * ReturnStatus = NULL ) const
MStatus	getPath ( MDagPath & path )
MStatus	getAllPaths ( MDagPathArray & paths )
MString	fullPathName ( MStatus *ReturnStatus = NULL)
MString	partialPathName ( MStatus *ReturnStatus = NULL)
MMatrix	transformationMatrix ( MStatus * ReturnStatus = NULL ) const
bool	isIntermediateObject ( MStatus * ReturnStatus = NULL ) const
MStatus	setIntermediateObject ( bool isIntermediate )
int	objectColor ( MStatus * ReturnStatus = NULL ) const
MStatus	setObjectColor ( int color )
bool	usingObjectColor ( MStatus * ReturnStatus = NULL ) const
MStatus	setUseObjectColor ( bool useObjectColor )
MBoundingBox	boundingBox ( MStatus * ReturnStatus = NULL ) const
MDagPath	dagPath ( MStatus * ReturnStatus = NULL ) const
virtual MStatus	setObject ( const MDagPath & path )
virtual MStatus	setObject ( MObject & object )
MObject	model ( MStatus * ReturnStatus = NULL ) const
virtual MStatus	setObject ( const MObject & object )

Inherited from MFnDependencyNode:

public members:

virtual MFn::Type	type () const
enum	MAttrClass kGlobalDynamicAttr kLocalDynamicAttr
MObject	create ( const MTypeId & typeId , MStatus * ReturnStatus = NULL )
MObject	create ( const MTypeId & typeId , const MString & name , MStatus * ReturnStatus = NULL )
MObject	create ( const MString & type , MStatus * ReturnStatus = NULL )
MObject	create ( const MString & type , const MString & name , MStatus * ReturnStatus = NULL )
MTypeId	typeId ( MStatus * ReturnStatus = NULL ) const
MString	typeName ( MStatus * ReturnStatus = NULL ) const
MString	name ( MStatus * ReturnStatus = NULL ) const
MString	setName ( const MString & name , MStatus * ReturnStatus = NULL )
MStatus	getConnections ( MPlugArray & array ) const
unsigned int	attributeCount ( MStatus * ReturnStatus=NULL) const
MObject	attribute ( unsigned int index, MStatus * ReturnStatus=NULL) const
MObject	reorderedAttribute ( unsigned int index, MStatus * ReturnStatus=NULL) const
MObject	attribute ( const MString & attrName, MStatus * ReturnStatus=NULL) const
MAttrClass	attributeClass ( const MObject & attr, MStatus * ReturnStatus=NULL) const
MStatus	getAffectedAttributes ( const MObject & attr, MObjectArray & affectedAttributes ) const
MStatus	getAffectedByAttributes ( const MObject & attr, MObjectArray & affectedByAttributes ) const
MPlug	findPlug ( const MObject & attr, bool wantNetworkedPlug, MStatus * ReturnStatus=NULL) const
MPlug	findPlug ( const MString & attrName, bool wantNetworkedPlug, MStatus * ReturnStatus=NULL) const
MPlug	findPlug ( const MObject & attr, MStatus * ReturnStatus=NULL) const
MPlug	findPlug ( const MString & attrName, MStatus * ReturnStatus=NULL) const
MStatus	addAttribute ( const MObject & attr, MAttrClass type = kLocalDynamicAttr )
MStatus	removeAttribute ( const MObject & attr, MAttrClass type = kLocalDynamicAttr )
MPxNode *	userNode ( MStatus * ReturnStatus=NULL ) const
bool	isFromReferencedFile ( MStatus * ReturnStatus=NULL) const
bool	isShared ( MStatus * ReturnStatus=NULL) const
bool	hasUniqueName ( MStatus * ReturnStatus=NULL) const
MString	parentNamespace ( MStatus * ReturnStatus=NULL) const
bool	isLocked ( MStatus * ReturnStatus=NULL) const
MStatus	setLocked ( bool locked )
static MString	classification ( const MString & nodeTypeName )
bool	isNewAttribute ( const MObject & attr, MStatus * ReturnStatus=NULL) const
static unsigned int	allocateFlag ( const MString pluginName, MStatus * ReturnStatus=NULL )
static MStatus	deallocateFlag (const MString pluginName, unsigned int flag)
static MStatus	deallocateAllFlags (const MString pluginName)
MStatus	setFlag (unsigned int flag, bool state)
bool	isFlagSet (unsigned int flag, MStatus * ReturnStatus=NULL) const
bool	isDefaultNode ( MStatus * ReturnStatus=NULL) const
MStatus	setDoNotWrite ( bool flag )
bool	canBeWritten ( MStatus * ReturnStatus=NULL) const
bool	hasAttribute (const MString & name , MStatus * ReturnStatus=NULL) const
MObject	getAliasAttr (bool force, MStatus * ReturnStatus=NULL)
bool	setAlias (const MString & alias,const MString & name , const MPlug & plug, bool add=true, MStatus * ReturnStatus=NULL)
bool	findAlias (const MString & alias, MObject & attrObj, MStatus * ReturnStatus=NULL) const
bool	getAliasList ( MStringArray & strArray, MStatus * ReturnStatus=NULL)
MString	plugsAlias (const MPlug & plug, MStatus * ReturnStatus=NULL)
	public
bool	getPlugsAlias (const MPlug & plug, MString & aliasName, MStatus * ReturnStatus=NULL)

Inherited from MFnBase:

public members:

virtual MFn::Type	type () const
bool	hasObj ( MFn::Type ) const
bool	hasObj ( const MObject & ) const
MObject	object ( MStatus * ReturnStatus = NULL ) const
virtual MStatus	setObject ( MObject & object )
virtual MStatus	setObject ( const MObject & object )

Documentation

Description

This is the function set for inverse kinematics (IK) handles. An ik handle specifies the joints in a skeleton that are effected by an attached ik solver.

Functions

MFnIkHandle:: MFnIkHandle ()

Description

Default class constructor. The function set is not attached to an MObject.

MFnIkHandle:: MFnIkHandle ( MObject & object, MStatus * ReturnStatus )

Description

Class constructor that initializes the function set to the given MObject.

Arguments

• object the MObject to attach the function set to
• ReturnStatus the return status
  • MS::kSuccess if the function set is successfully attached
  • MS::kInvalidParameter if the MObject does not represent a valid Maya object or if the function set is not allowed to attach to this MObject

MFnIkHandle:: MFnIkHandle ( const MObject & object, MStatus * ReturnStatus )

Description

Class constructor that initializes the function set to the given constant MObject.

Arguments

• object the const MObject to attach the function set to
• ReturnStatus the return status
  • MS::kSuccess if the function set is successfully attached
  • MS::kInvalidParameter if the MObject does not represent a valid Maya object or if the function set is not allowed to attach to this MObject

MFnIkHandle:: MFnIkHandle ( const MDagPath & object, MStatus * ReturnStatus )

Description

Class constructor that initializes the function set to the given constant MDagPath object.

Arguments

• object the const MDagPath to attach the function set to
• ReturnStatus the return status
  • MS::kSuccess if the function set is successfully attached
  • MS::kInvalidParameter if the MObject does not represent a valid Maya object or if the function set is not allowed to attach to this MObject

MFn::Type MFnIkHandle:: type () const

Description

Return the type of this function set.

Return Value

• the constant MFn::kIkHandle

MFnIkHandle:: ~MFnIkHandle ()

Description

Class destructor.

MObject MFnIkHandle:: create ( MDagPath & startJoint, MDagPath & effector, MStatus * ReturnStatus )

Description

Creates a new ik handle. The effector and startJoint specify the joint chain controlled by this handle. The effector is the joint that is moved by the handle forcing the solver to recalculate the joint chain.

Arguments

• startJoint a path to the start joint in the joint chain
• effector a path to the end-effector (last joint) in the chain
• ReturnStatus Status Code (see below)

Status Codes

• MS::kSuccess A new ik handle was successfully created and added to the dag
• MS::kInvalidParameter The startJoint or effector are not valid joints
• MS::kInsufficientMemory Not enough memory available to create the new handle
• MS::kLicenseFailure Application not licensed for attempted operation
• MS::kFailure An error occurred adding the new handle to the DAG.

MStatus MFnIkHandle:: getStartJoint ( MDagPath &jointPath )

Description

This method will get a dag path to the starting joint of the handle's joint chain.

Arguments

• jointPath storage for the dag path to the joint

Return value

• Status Code (see below)

Status Codes

• MS::kSuccess The dag path was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setStartJoint ( const MDagPath &jointPath )

Description

This method will set the dag path for the starting joint of the handle's joint chain. The start joint must be on the same skeletal chain as the end effector or this method will fail.

Arguments

• jointPath The dag path to the joint that will be set

Status Codes

• MS::kSuccess The joint path was successfully set
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: getEffector ( MDagPath &effectorPath )

Description

Get a dag path to the end-effector of the handle's joint chain.

Arguments

• effectorPath Storage for the effector path

Return value

• ReturnStatus Status Code (see below)

Status Codes

• MS::kSuccess The effector path was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setEffector ( const MDagPath &effectorPath )

Description

Set the dag path to the end-effector of the handle's joint chain. The end-effector/joint must be on the same skeletal chain as the start joint or this method will fail.

The end effector may be specified with a joint or an end-effector. If a joint is used, an end-effector will be created at the same position as the joint and this new end-effector will be used as the end effector.

Arguments

• effectorPath The path for the effector

Return value

• ReturnStatus Status Code (see below)

Status Codes

• MS::kSuccess The effector path was successfully set
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setStartJointAndEffector ( const MDagPath &jointPath, const MDagPath &effectorPath )

Description

This method will set the dag path for the starting joint and the end-effector of the handle's joint chain. This method must be used when setting the joints for a handle that are in a different skeletal chain then the current one.

The end effector may be specified with a joint or an end-effector. If a joint is used, an end-effector will be created at the same position as the joint and this new end-effector will be used as the end effector.

Arguments

Arguments

• jointPath The dag path to the joint that will be set
• effectorPath The path for the effector

Status Codes

• MS::kSuccess The joint and effector paths were successfully set
• MS::kFailure This function set has not been attached to a valid object

unsigned int MFnIkHandle:: priority ( MStatus * ReturnStatus )

Description

Get the priority of this handle in case a solution is affected by more than one handle.

Logically, all handles with a lower number priority are solved before any handles with a higher numbered priority. (All handles of priority 1 are solved before any handles of priority 2 and so on.) Handle priorities must be > 0.

Arguments

• ReturnStatus Status Code (see below)

Return value

• The priority of this handle

Status Codes

• MS::kSuccess The priority was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setPriority ( unsigned int priority )

Description

Set the priority of this handle in case a solution is affected by more than one handle

Logically, all handles with a lower number priority are solved before any handles with a higher numbered priority. (All handles of priority 1 are solved before any handles of priority 2 and so on.) Handle priorities must be > 0.

Arguments

• priority The priority to set for this handle

Return value

• ReturnStatus Status Code (see below)

Status Codes

• MS::kSuccess The priority was successfully set
• MS::kFailure This function set has not been attached to a valid object

MFnIkHandle::Stickiness MFnIkHandle:: stickiness ( MStatus * ReturnStatus )

Description

Get the stickiness of this handle.

Sticky handles are solved when the skeleton is being manipulated interactively. If a character has sticky feet, the solver will attempt to keep them in the same position as the user moves the character's root. If they were not sticky, they would move along with the root.

Arguments

• ReturnStatus Status Code (see below)

Return value

• The stickiness value for this handle :
  • kStickyOff
  • kStickyOn
  • kSuperSticky

Status Codes

• MS::kSuccess The stickiness value was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setStickiness ( Stickiness stickiness )

Description

Set the stickiness of this handle. Sticky handles are solved when the skeleton is being manipulated interactively. If a character has sticky feet, the solver will attempt to keep them in the same position as the user moves the character's root. If they were not sticky, they would move along with the root.

Arguments

• stickiness The stickiness value to be set :
  • kStickyOff
  • kStickyOn
  • kSuperSticky

Return value

• ReturnStatus Status Code (see below)

Status Codes

• MS::kSuccess The stickiness value was successfully set
• MS::kFailure This function set has not been attached to a valid object

double MFnIkHandle:: weight ( MStatus * ReturnStatus )

Description

Get the handles weight in error calculations. The weight only applies when handle goals are in conflict and cannot be solved simultaneously. When this happens, a solution is computed that weights the "distance" from each goal to the solution by the handle's weight and attempts to minimize this value. The weight must be >= 0.

Arguments

• ReturnStatus Status Code (see below)

Return value

• The weight value for this handle

Status Codes

• MS::kSuccess The weight value was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setWeight ( double weight )

Description

Specifies the handles weight in error calculations. The weight only applies when handle goals are in conflict and cannot be solved simultaneously. When this happens, a solution is computed that weights the "distance" from each goal to the solution by the handle's weight and attempts to minimize this value. The weight must be >= 0.

Arguments

• weight The weight value to be set

Return value

• ReturnStatus Status Code (see below)

Status Codes

• MS::kSuccess The weight value was successfully set
• MS::kFailure This function set has not been attached to a valid object

double MFnIkHandle:: poWeight ( MStatus * ReturnStatus )

Description

Gets the position/orientation weight of a handle. This is used to compute the "distance" between the goal position and the end-effector position.

A positionWeight of 1.0 computes the distance as the distance between positions only and ignores the orientations.

A positionWeight of 0.0 computes the distance as the distance between the orientations only and ignores the positions.

A positionWeight of 0.5 attempts to weight the distances equally but cannot actually compute this due to units differences. Because there is no way to add linear units and angular units.

Arguments

• ReturnStatus Status Code (see below)

Return value

• The position/orientation weight

Status Codes

• MS::kSuccess The position/orientation weight was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setPOWeight ( double poWeight )

Description

Sets the position/orientation weight of a handle. This is used to compute the "distance" between the goal position and the end-effector position.

A positionWeight of 1.0 computes the distance as the distance between positions only and ignores the orientations.

A positionWeight of 0.0 computes the distance as the distance between the orientations only and ignores the positions.

A positionWeight of 0.5 attempts to weight the distances equally but cannot actually compute this due to units differences. Because there is no way to add linear units and angular units.

Arguments

• poWeight The position/orientation weight to be set

Return value

• Status Code (see below)

Status Codes

• MS::kSuccess The position/orientation weight was successfully set
• MS::kFailure This function set has not been attached to a valid object

MObject MFnIkHandle:: solver ( MStatus * ReturnStatus )

Description

Returns the solver attached to this handle.

Arguments

• ReturnStatus Status Code (see below)

Return value

• The solver associated with this handle

Status Codes

• MS::kSuccess The solver for this handle was successfully returned
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setSolver ( const MObject & solver )

Description

Set the solver for this handle.

Arguments

• solver The solver for this handle

Return value

• Status Code (see below)

Status Codes

• MS::kSuccess The solver for this handle was successfully set
• MS::kFailure This function set has not been attached to a valid object

MStatus MFnIkHandle:: setSolver ( const MString & solverName )

Description

Set the solver associated with this handle by name.

Arguments

• solverName The type name of the solver to be set

Return value

• Status Code (see below)

Status Codes

• MS::kSuccess The solver for this handle was successfully set
• MS::kFailure This function set has not been attached to a valid object

This class has no child classes.