Module description

This section describes the functions used to set up floor contact for your characters.

Note that setting up floor contact also requires you to set up appropriate character properties in your HIKPropertySetState. For an overview of the HumanIK floor contact engine, and for complete instructions on the process of setting up floor contact, see Foot and Hand Contact.

Enumerations
enum	HIKFloorContact { HIKLeftHandFloor =0, HIKRightHandFloor, HIKLeftFootFloor, HIKRightFootFloor, HIKLastFloorId }
	Lists the surfaces that can be controlled by the floor contact engine. More...

Functions
void	HIKGetEffectorFloorStatedv (const HIKEffectorSetState *pEffectorSetState, int pFloor, double pXForm[16])
	Retrieve the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorFloorStatefv (const HIKEffectorSetState *pEffectorSetState, int pFloor, float pXForm[16])
	Retrieve the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorFloorStateTQdv (const HIKEffectorSetState *pEffectorSetState, int pFloor, double pT[4], double pQ[4])
	Retrieve the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorFloorStateTQfv (const HIKEffectorSetState *pEffectorSetState, int pFloor, float pT[4], float pQ[4])
	Retrieve the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

int	HIKGetFloorContactPointPositiondv (const HIKCharacter pCharacter, const HIKCharacterState pState, const HIKPropertySetState *pPropertySetState, int pMemberIndex, int pContactIndex, double pXForm[16])
	Retrieve the translation in global space for one of the markers used by the floor contact engine to define the feet or hands of character `pCharacter` with HIKCharacterState `pState`. More...

int	HIKGetFloorContactPointPositionfv (const HIKCharacter pCharacter, const HIKCharacterState pState, const HIKPropertySetState *pPropertySetState, int pMemberIndex, int pContactIndex, float pT[4])
	Retrieve the translation in global space for one of the markers used by the floor contact engine to define the feet or hands of character `pCharacter` with HIKCharacterState `pState`. More...

void	HIKSetEffectorFloorStatedv (HIKEffectorSetState *pEffectorSetState, int pFloor, const double pXForm[16])
	Set the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorFloorStatefv (HIKEffectorSetState *pEffectorSetState, int pFloor, const float pXForm[16])
	Set the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorFloorStateTQdv (HIKEffectorSetState *pEffectorSetState, int pFloor, const double pT[4], const double pQ[4])
	Set the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorFloorStateTQfv (HIKEffectorSetState *pEffectorSetState, int pFloor, const float pT[4], const float pQ[4])
	Set the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

Enumeration Type Documentation

enum HIKFloorContact

Lists the surfaces that can be controlled by the floor contact engine.

Used when setting the transform matrix that defines the position of the floor for a limb. See HIKSetEffectorFloorStatefv() and HIKGetEffectorFloorStatefv().

See also: Setting up Foot and Hand Contact.

Enumerator
HIKLeftHandFloor	Left hand floor contact.
HIKRightHandFloor	Right hand floor contact.
HIKLeftFootFloor	Left foot floor contact.
HIKRightFootFloor	Right foot floor contact.
HIKLastFloorId	Marks the end of the enumeration.

Function Documentation

void HIKGetEffectorFloorStatedv	(	const HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		double	pXForm[16]
	)

Retrieve the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

	pEffectorSetState	HIKEffectorSetState that holds the floor orientation.
	pFloor	Specifies the joint for which the floor orientation will be retrieved. See the HIKFloorContact enumeration for possible values.
[out]	pXForm	Stores the transform matrix of the floor or oriented plane, in global space (4x4 column major matrix).

void HIKGetEffectorFloorStatefv	(	const HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		float	pXForm[16]
	)

Retrieve the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

	pEffectorSetState	HIKEffectorSetState that holds the floor orientation.
	pFloor	Specifies the joint for which the floor orientation will be retrieved. See the HIKFloorContact enumeration for possible values.
[out]	pXForm	Stores the transform matrix of the floor or oriented plane, in global space (4x4 column major matrix).

void HIKGetEffectorFloorStateTQdv	(	const HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		double	pT[4],
		double	pQ[4]
	)

Retrieve the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

pEffectorSetState	HIKEffectorSetState that holds the floor orientation.
pFloor	Specifies the joint for which the floor orientation will be retrieved. See the HIKFloorContact enumeration for possible values.
pT	Translation value to retrieve, in global space.
pQ	Rotation value to retrieve, in global space.

void HIKGetEffectorFloorStateTQfv	(	const HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		float	pT[4],
		float	pQ[4]
	)

Retrieve the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

pEffectorSetState	HIKEffectorSetState that holds the floor orientation.
pFloor	Specifies the joint for which the floor orientation will be retrieved. See the HIKFloorContact enumeration for possible values.
pT	Translation value to retrieve, in global space.
pQ	Rotation value to retrieve, in global space.

int HIKGetFloorContactPointPositiondv	(	const HIKCharacter *	pCharacter,
		const HIKCharacterState *	pState,
		const HIKPropertySetState *	pPropertySetState,
		int	pMemberIndex,
		int	pContactIndex,
		double	pXForm[16]
	)

Retrieve the translation in global space for one of the markers used by the floor contact engine to define the feet or hands of character pCharacter with HIKCharacterState pState.

For details on how these floor contact markers are calculated from character properties, see Foot and Hand Contact.

Parameters

	pCharacter	HIKCharacter.
	pState	HIKCharacterState.
	pPropertySetState	HIKPropertySetState defining the floor contact properties for the character. See the floor contact properties, such as HIKFootBottomToAnkleId, etc...
	pMemberIndex	Defines which limb to retrieve the result from. 0 = left hand, 1 = right hand, 2 = left foot, 3 = right foot.
	pContactIndex	Defines which floor contact marker to retrieve. Can be a value from 0 to 5 depending on floor contact type: normal, wrist, fingerbase or hoof.
[out]	pXForm	Global transformation matrix of the floor contact marker.

Returns: Returns 1 if pMemberIndex and pContactIndex are valid, otherwise 0.

int HIKGetFloorContactPointPositionfv	(	const HIKCharacter *	pCharacter,
		const HIKCharacterState *	pState,
		const HIKPropertySetState *	pPropertySetState,
		int	pMemberIndex,
		int	pContactIndex,
		float	pT[4]
	)

Retrieve the translation in global space for one of the markers used by the floor contact engine to define the feet or hands of character pCharacter with HIKCharacterState pState.

For details on how these floor contact markers are calculated from character properties, see Foot and Hand Contact.

Parameters

	pCharacter	HIKCharacter.
	pState	HIKCharacterState.
	pPropertySetState	HIKPropertySetState defining the floor contact properties for the character. See the floor contact properties, such as HIKFootBottomToAnkleId, etc...
	pMemberIndex	Defines which limb to retrieve the result from. 0 = left hand, 1 = right hand, 2 = left foot, 3 = right foot.
	pContactIndex	Defines which floor contact marker to retrieve. Can be a value from 0 to 5 depending on floor contact type: normal, wrist, fingerbase or hoof.
[out]	pT	Global translation of the floor contact marker.

Returns: Returns 1 if pMemberIndex and pContactIndex are valid, otherwise 0.

void HIKSetEffectorFloorStatedv	(	HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		const double	pXForm[16]
	)

Set the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

pEffectorSetState	HIKEffectorSetState that will hold the floor orientation.
pFloor	Determines the joint to which the floor orientation will apply. See the HIKFloorContact enumeration for possible values.
pXForm	Transform matrix of the floor or oriented plane, in global space (4x4 column major matrix).

void HIKSetEffectorFloorStatefv	(	HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		const float	pXForm[16]
	)

Set the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

pEffectorSetState	HIKEffectorSetState that will hold the floor orientation.
pFloor	Determines the joint to which the floor orientation will apply. See the HIKFloorContact enumeration for possible values.
pXForm	Transform matrix of the floor or oriented plane, in global space (4x4 column major matrix).

void HIKSetEffectorFloorStateTQdv	(	HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		const double	pT[4],
		const double	pQ[4]
	)

Set the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

pEffectorSetState	HIKEffectorSetState that will hold the floor orientation.
pFloor	Determines the joint to which the floor orientation will apply. See the HIKFloorContact enumeration for possible values.
pT	Translation value to set, in global space.
pQ	Rotation value to set, in global space.

void HIKSetEffectorFloorStateTQfv	(	HIKEffectorSetState *	pEffectorSetState,
		int	pFloor,
		const float	pT[4],
		const float	pQ[4]
	)

Set the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands.

Parameters

pEffectorSetState	HIKEffectorSetState that will hold the floor orientation.
pFloor	Determines the joint to which the floor orientation will apply. See the HIKFloorContact enumeration for possible values.
pT	Translation value to set, in global space.
pQ	Rotation value to set, in global space.

Floor Contact

Module description

Enumerations

Functions

Enumeration Type Documentation

Function Documentation