MPxIkSolver Class Reference
#include <MPxIkSolver.h>
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- This class is obsolete and will be removed in a future version of Maya.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:
\li <b>doSolve</b>
\li <b>solverTypeName</b>
\li <b>isSingleChainOnly</b>
\li <b>isPositionOnly</b>
\li <b>hasJointLimitSupport</b>
\li <b>hasUniqueSolution</b>
\li <b>groupHandlesByTopology</b>
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.
Destructor.
Local class data should be freed here.
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
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
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
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 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 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 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 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 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 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
-
- 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
-
- Returns
- Status code
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
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 |
Return the error value for this solver.
- Returns
- The error value
| 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 |
Returns the name of this class.
- Returns
- Name of this class.
Returns the joint angles.
- Parameters
-
| [out] | angles | The array of doubles to hold the angles. |
- Returns
-
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
The documentation for this class was generated from the following files:
- MPxIkSolver.h
- MPxIkSolver.cpp