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

#include <MPxIkSolverNode.h>

Inheritance diagram for MPxIkSolverNode:

[legend]

Collaboration diagram for MPxIkSolverNode:

[legend]

List of all members.

---

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:

simpleSolverNode.cpp.

Public Member Functions
virtual	~MPxIkSolverNode ()
virtual MPxNode::Type	type () const
virtual MStatus	preSolve ()
virtual MStatus	doSolve ()
virtual MStatus	postSolve (MStatus)
virtual MString	solverTypeName () const
bool	rotatePlane (MStatus *ReturnStatus=NULL) const
MStatus	setRotatePlane (bool rotatePlane)
bool	singleChainOnly (MStatus *ReturnStatus=NULL) const
MStatus	setSingleChainOnly (bool singleChainOnly)
bool	positionOnly (MStatus *ReturnStatus=NULL) const
MStatus	setPositionOnly (bool positionOnly)
bool	supportJointLimits (MStatus *ReturnStatus=NULL) const
MStatus	setSupportJointLimits (bool supportJointLimits)
bool	uniqueSolution (MStatus *ReturnStatus=NULL) const
MStatus	setUniqueSolution (bool uniqueSolution)
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	This method is obsolete.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	This method is obsolete.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	This method is obsolete.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	This method is obsolete.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	This method is obsolete.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)
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
	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 & Destructor Documentation

MPxIkSolverNode::~MPxIkSolverNode

(

)

[virtual]

Destructor.

MPxIkSolverNode::MPxIkSolverNode

(

)

[protected]

Constructor.

---

Member Function Documentation

MPxNode::Type MPxIkSolverNode::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 MPxIkSolverNode::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 MPxIkSolverNode::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.

MStatus MPxIkSolverNode::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 MPxIkSolverNode::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 MPxIkSolverNode::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.

Returns:

Boolean value: true if the solver supports the rotate plane, false otherwise.

Status Codes:

• MS::kSuccess operation successful
• MS::kFailure operation failed

MStatus MPxIkSolverNode::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 MPxIkSolverNode::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.

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 MPxIkSolverNode::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 MPxIkSolverNode::positionOnly

(

MStatus *

ReturnStatus = NULL

)

const

Indicates whether the ik solution is dependent on the ikHandle position only or also uses the orientation.

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 MPxIkSolverNode::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 MPxIkSolverNode::supportJointLimits

(

MStatus *

ReturnStatus = NULL

)

const

This method indicates whether the solver supports limits on joint angles.

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 MPxIkSolverNode::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 MPxIkSolverNode::uniqueSolution

(

MStatus *

ReturnStatus = NULL

)

const

This method indicates whether the solver provides a unique solution.

Returns:

Boolean value: true if the solver provides a unique solution, false otherwise.

Status Codes:

• MS::kSuccess operation successful
• MS::kFailure operation failed

MStatus MPxIkSolverNode::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 MPxIkSolverNode::isSingleChainOnly

(

)

const [virtual]

This method is obsolete.

Deprecated:

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 MPxIkSolverNode::isPositionOnly

(

)

const [virtual]

This method is obsolete.

Deprecated:

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 MPxIkSolverNode::hasJointLimitSupport

(

)

const [virtual]

This method is obsolete.

Deprecated:

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 MPxIkSolverNode::hasUniqueSolution

(

)

const [virtual]

This method is obsolete.

Deprecated:

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 MPxIkSolverNode::groupHandlesByTopology

(

)

const [virtual]

This method is obsolete.

Deprecated:

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 MPxIkSolverNode::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 MPxIkSolverNode::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 * MPxIkSolverNode::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 MPxIkSolverNode::setHandleGroup

(

MIkHandleGroup *

group

)

[virtual]

Set the handle group of this solver.

Parameters:

[in]

group

The handle group to be set

const MMatrix * MPxIkSolverNode::toWorldSpace

(

)

const

Returns the world space matrix for this solver.

Returns:

The world space matrix

const MMatrix * MPxIkSolverNode::toSolverSpace

(

)

const

Returns the local space matrix for this solver.

Returns:

The local space matrix

double MPxIkSolverNode::funcValueTolerance

(

)

const

Return the error value for this solver.

Returns:

The error value

int MPxIkSolverNode::maxIterations

(

)

const

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

Returns:

The maximum number of iterations

void MPxIkSolverNode::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 MPxIkSolverNode::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 MPxIkSolverNode::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 MPxIkSolverNode::setToRestAngles

(

)

[protected]

This method is not available in Python.

Sets all joints to thier prefered orientations. Use MPxIkSolverNode::_setToRestAngles in scripts.