IIKChainControl Class Reference

#include <iiksys.h>

Class Description

See also

: Class IKCmdOps, Class IKChainActions

Description:

This class is only available in release 5 or later.

The interface class to TM controller that the IK chain node employs. Suppose node is an IK chain node, following code obtains the interface pointer:

IIKChainControl* ikchain = (IIKChainControl*) node->GetTMController()->GetInterface(I_IKChainControl);

From this pointer, we can get all properties pertinent to an IK Chain.

Inheritance diagram for IIKChainControl:

Public Types
enum	IIKChainControlReferenceIndex {   kPBlockRef = 0, kGoalTMRef, kEndJointRef, kEnableRef,   kStartJointRef, kOwningNodeRef, kLastRef }
enum	IIKChainControlParameterBlockIndex { kParamBlock, kNumParamBlocks }
enum	IIKChainControlParameterIndex {   kStartJoint, kEndJoint, kSolverName, kAutoEnable,   kSwivel, kPosThresh, kRotThresh, kIteration,   kEEDisplay, kEESize, kGoalDisplay, kGoalSize,   kVHDisplay, kVHSize, kVHLength, kSolverDisplay,   kAutoSnap, kVHUseTarget, kVHTarget, kSAParent,   kLastHIIKParam }
enum	SplineIKParams {   kPickShape = kLastHIIKParam, kTwistHStartDisplay, kTwistHEndDisplay, kTwistHStartSize,   kTwistHEndSize, kTwistHStartLength, kTwistHEndLength, kTwistHStartAngle,   kTwistHEndAngle, kAutoSplineCreate, kSplineTypeChoice, kSplineKnotCount,   kCreateHelper, kLinktoRootNode, kHelpersize, kHelperCentermarker,   kHelperAxisTripod, kHelperCross, kHelperBox, kHelperScreensize,   kHelperDrawontop, kUpnode, kUseUpnode, kLastSplineIKParam }
enum	SAParentSpace { kSAInGoal, kSAInStartJoint }

Public Member Functions
virtual float	TwistHStartAngle (TimeValue, Interval &)=0
virtual float	TwistHEndAngle (TimeValue, Interval &)=0
virtual INode *	StartJoint () const =0
virtual INode *	EndJoint () const =0
virtual INode *	GetNode () const =0
virtual Point3	ChainNormal (TimeValue t, Interval &valid)=0
virtual Point3	InitPlane (TimeValue t)=0
virtual Point3	InitEEAxis (TimeValue t)=0
virtual float	InitChainLength (TimeValue t)=0
virtual float	SwivelAngle (TimeValue, Interval &)=0
	The swivel angle at time. More...
virtual const IKSys::ZeroPlaneMap *	DefaultZeroPlaneMap (TimeValue t)=0
	The zero plane is the plane that, at each "start joint to end joint" axis, is used as a reference plane with regard to that the swivel angle is defined. More...
virtual SAParentSpace	SwivelAngleParent () const =0
	Whether the zero plane is defined in the parent space of the start joint, kSAInStartJoint, or in the space of the IK goal, kSAInGoal. More...
virtual IKSolver *	Solver () const =0
	The solver that is assigned to this chain. More...
virtual bool	SolverEnabled (TimeValue, Interval *=0)=0
	Whether the solver is enabled (IK mode) or not (FK mode). More...
virtual bool	CanAutoEnable () const =0
	When the chain is in the FK mode, IK can still be invoked when the goal is moved interactively if CanAutoEnabled() is true. More...
virtual bool	AutoEnableSet () const =0
	It is a transient state that is alive only at the time when joint angles are to be updated. More...
virtual bool	Valid () const =0
	Whether this chain is a valid one. More...
virtual Interface_ID	GoalInterfaceID () const =0
	What IK goal interface this chain is prepaired for. More...
virtual BaseInterface *	AcquireGoal (TimeValue, Interval &, const Matrix3 &parent_of_start_joint)=0
	It returns an interface to the goal at the time. More...

Additional Inherited Members
Static Public Member Functions inherited from MaxHeapOperators
static UtilExport void *	operator new (size_t size)
	Standard new operator used to allocate objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, const std::nothrow_t &e)
	Standard new operator used to allocate objects if there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new (size_t size, const char *filename, int line)
	New operator used to allocate objects that takes the filename and line number where the new was called If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, int block_type, const char *filename, int line)
	New operator used to allocate objects that takes the type of memory, filename and line number where the new was called If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, const std::nothrow_t &e, const char *filename, int line)
	New operator used to allocate objects that takes the filename and line number where the new was called If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new (size_t size, unsigned long flags)
	New operator used to allocate objects that takes extra flags to specify special operations If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, const std::nothrow_t &e, unsigned long flags)
	New operator used to allocate objects that takes extra flags to specify special operations If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new[] (size_t size)
	New operator used to allocate arrays of objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new[] (size_t size, const std::nothrow_t &e)
	New operator used to allocate arrays of objects If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new[] (size_t size, const char *filename, int line)
	New operator used to allocate arrays of objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new[] (size_t size, int block_type, const char *filename, int line)
	New operator used to allocate arrays of objects. More...
static UtilExport void *	operator new[] (size_t size, const std::nothrow_t &e, const char *filename, int line)
	New operator used to allocate arrays of objects If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new[] (size_t size, unsigned long flags)
	New operator used to allocate arrays of objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new[] (size_t size, const std::nothrow_t &e, unsigned long flags)
	New operator used to allocate arrays of objects If there is insufficient memory, NULL will be returned. More...
static UtilExport void	operator delete (void *ptr)
	Standard delete operator used to deallocate an object If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, const std::nothrow_t &e)
	Standard delete operator used to deallocate an object If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete (void *ptr, const char *filename, int line)
	Delete operator used to deallocate an object that takes the filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, int block_type, const char *filename, int line)
	Delete operator used to deallocate an object that takes the type of memory, filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, const std::nothrow_t &e, const char *filename, int line)
	Delete operator used to deallocate an object that takes the filename and line number where the delete was called If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete (void *ptr, unsigned long flags)
	Delete operator used to deallocate an object that takes extra flags to specify special operations If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, const std::nothrow_t &e, unsigned long flags)
	Delete operator used to deallocate an object that takes extra flags to specify special operations If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete[] (void *ptr)
	Standard delete operator used to deallocate an array of objects If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, const std::nothrow_t &e)
	Standard delete operator used to deallocate an array of objects If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete[] (void *ptr, const char *filename, int line)
	Delete operator used to deallocate an array of objects that takes the filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, int block_type, const char *filename, int line)
	Delete operator used to deallocate an array of objects that takes the type of memory, filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, const std::nothrow_t &e, const char *filename, int line)
	Delete operator used to deallocate an array of objects that takes the filename and line number where the delete was called If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete[] (void *ptr, unsigned long flags)
	Delete operator used to deallocate an array of objects that takes extra flags to specify special operations If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, const std::nothrow_t &e, unsigned long flags)
	Delete operator used to deallocate an array of objects that takes extra flags to specify special operations If the pointer is invalid, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, void *placement_ptr)
	Placement new operator. More...
static UtilExport void	operator delete (void *ptr, void *placement_ptr)
	Placement delete operator. More...

Member Enumeration Documentation

enum IIKChainControlReferenceIndex

Enumerator
kPBlockRef
kGoalTMRef
kEndJointRef
kEnableRef
kStartJointRef
kOwningNodeRef
kLastRef

                                     {
    kPBlockRef = 0, // ParamBlock
    kGoalTMRef,     // Matrix3 controller
    kEndJointRef,   // INode
    kEnableRef,     // Bool (float) controller
    kStartJointRef, // INode
    kOwningNodeRef, // Reference on a NodeMonitor that holds an indirect reference on the owning Node
    kLastRef
  };

enum IIKChainControlParameterBlockIndex

Enumerator
kParamBlock
kNumParamBlocks

                                          {
    kParamBlock,
    kNumParamBlocks
  };

enum IIKChainControlParameterIndex

Enumerator
kStartJoint
kEndJoint
kSolverName
kAutoEnable
kSwivel
kPosThresh
kRotThresh
kIteration
kEEDisplay
kEESize
kGoalDisplay
kGoalSize
kVHDisplay
kVHSize
kVHLength
kSolverDisplay
kAutoSnap
kVHUseTarget
kVHTarget
kSAParent
kLastHIIKParam

                                     {
    kStartJoint,    // INode, referenced by kStartJointRef
    kEndJoint,      // INode, referenced by kEndJointRef
    kSolverName,    // String
    kAutoEnable,    // BOOL
    kSwivel,        // Angle
    kPosThresh,     // Float
    kRotThresh,     // Float
    kIteration,     // Integer
    kEEDisplay,     // BOOL
    kEESize,        // Float
    kGoalDisplay,   // BOOL
    kGoalSize,      // Float
    kVHDisplay,     // BOOL
    kVHSize,        // Float
    kVHLength,      // Float
    kSolverDisplay, // BOOL
    kAutoSnap,      // BOOL
    kVHUseTarget,   // BOOL
    kVHTarget,      // INode
    kSAParent,      // RadioBtn_Index
    kLastHIIKParam
  };

enum SAParentSpace

Enumerator
kSAInGoal
kSAInStartJoint

                     {
    kSAInGoal,
    kSAInStartJoint
  };

Member Function Documentation

virtual float TwistHStartAngle ( TimeValue  , Interval &    )

pure virtual

virtual float TwistHEndAngle ( TimeValue  , Interval &    )

pure virtual

virtual INode* StartJoint ( ) const

pure virtual

Remarks

The start joint, end joint of the chain, and the node to that this IK chain controller belongs.

virtual INode* EndJoint ( ) const

pure virtual

Remarks

Please refer to StartJoint().

virtual INode* GetNode ( ) const

pure virtual

Remarks

Please refer to StartJoint().

virtual Point3 ChainNormal ( TimeValue  t, Interval &  valid  )

pure virtual

Remarks

Preferred angles are used to start the IK iteration. Hence, the pose when joint angles assume the preferred angles is also called the Initial Pose in the context of IK. It is animatable, meaning that at different time, IK may start iteration from different poses.

Let's call the plane that the joints of an IK chain the (IK) solver plane. InitPlane() and InitEEAxis() returns the normal to the solver plane and the axis from the start joint to the end joint (end-effector axis) at the initial (preferred angle) pose, at time of input argument. They are represented in the parent space of the start joint. ChainNormal() returns the normal in the object space, as

InitPlane() == ChainNormal() * startIKCont->PrefRotation()

where

startIKCont = (IIKControl*)StartJoint()->GetController()->GetInterface(I_IKControl);

Furthermore, ChainNormal() takes as an input argument a validity interval that will be intersected by the validity interval of the chain normal.

virtual Point3 InitPlane ( TimeValue  t )

pure virtual

Remarks

Please refer to ChainNormal().

virtual Point3 InitEEAxis ( TimeValue  t )

pure virtual

Remarks

Please refer to ChainNormal().

virtual float InitChainLength ( TimeValue  t )

pure virtual

Remarks

Please refer to ChainNormal().

virtual float SwivelAngle ( TimeValue  , Interval &    )

pure virtual

The swivel angle at time.

The validity interval, valid, will be intersected.

virtual const IKSys::ZeroPlaneMap* DefaultZeroPlaneMap ( TimeValue  t )

pure virtual

The zero plane is the plane that, at each "start joint to end joint" axis, is used as a reference plane with regard to that the swivel angle is defined.

The zero plane map maps an axis to a plane normal. The IK system offers as a possible default via DefaultZeroPlaneMap().

virtual SAParentSpace SwivelAngleParent ( ) const

pure virtual

Whether the zero plane is defined in the parent space of the start joint, kSAInStartJoint, or in the space of the IK goal, kSAInGoal.

virtual IKSolver* Solver ( ) const

pure virtual

The solver that is assigned to this chain.

virtual bool SolverEnabled ( TimeValue  , Interval *  = 0  )

pure virtual

Whether the solver is enabled (IK mode) or not (FK mode).

virtual bool CanAutoEnable ( ) const

pure virtual

When the chain is in the FK mode, IK can still be invoked when the goal is moved interactively if CanAutoEnabled() is true.

It is a PB2 parameter of index kAutoEnable. It is not animatable.

virtual bool AutoEnableSet ( ) const

pure virtual

It is a transient state that is alive only at the time when joint angles are to be updated.

Being true means that the Enabled state of the chain is off the IK is turned on by interactive manipulation.

virtual bool Valid ( ) const

pure virtual

Whether this chain is a valid one.

It is valid if it is assigned a proper IK solver and it has valid start joint and end joint.

virtual Interface_ID GoalInterfaceID ( ) const

pure virtual

What IK goal interface this chain is prepaired for.

For now, there are two interfaces: HI IK goal (IHIIKGoal) and Spline IK goal (ISplineIKGoal). An IK chain will admit of plugin solvers that support this goal interface (IKSolver::ExpectGoal()).

virtual BaseInterface* AcquireGoal ( TimeValue  , Interval &  , const Matrix3 &  parent_of_start_joint  )

pure virtual

It returns an interface to the goal at the time.

Validity interval is reconciled. The parent matrix of the start joint is also returned in the third argument.