#include <iiksys.h>

Class Description

See also: Class INode, Class Control, Class Point2, Class Point3, Class Interval, Inverse Kinematics

Description:: This class represents the TM controller for IK Chains and is used for nodes that serve as IK joints. This class is closely knit together with the Class IIKChainControl and form the IK system. An interface pointer to the IKControl class can be obtained by using Animatable::GetInterface(I_IKCONTROL). See the Inverse Kinematics section for more detailed information.

Inheritance diagram for IIKControl:

Public Types
typedef IKSys::DofAxis	DofAxis

typedef IKSys::JointType	JointType

typedef IKSys::DofSet	DofSet

Public Member Functions
virtual bool	DofActive (DofAxis) const =0

virtual DofSet	ActiveTrans () const =0

virtual DofSet	ActiveRot () const =0

virtual DofSet	ActiveDofs () const =0

virtual INodeTab	IKChains (JointType) const =0

virtual bool	DofLowerLimited (DofAxis) const =0

virtual bool	DofUpperLimited (DofAxis) const =0

virtual Point2	DofLimits (DofAxis) const =0

virtual Point3	TransLowerLimits () const =0

virtual Point3	TransUpperLimits () const =0

virtual Point3	RotLowerLimits () const =0

virtual Point3	RotUpperLimits () const =0

virtual bool	IKBound (TimeValue t, JointType jt)=0

virtual Control *	FKSubController () const =0

virtual INode *	GetNode () const =0

virtual Point3	PrefPosition (TimeValue t, Interval &validityInterval)=0

virtual Point3	PrefRotation (TimeValue t, Interval &validityInterval)=0

virtual Point3	TransValues (TimeValue, Interval *=0)=0

virtual Point3	RotValues (TimeValue, Interval *=0)=0

virtual void	AssignTrans (const Point3 &, const Interval &)=0

virtual void	AssignRot (const Point3 &, const Interval &)=0

virtual void	AssignActiveTrans (const Point3 &, const Interval &)=0

virtual void	AssignActiveRot (const Point3 &, const Interval &)=0

virtual void	AssignActiveTrans (const DofSet &, const float[], const Interval &)=0

virtual void	AssignActiveRot (const DofSet &, const float[], const Interval &)=0

virtual void	SetTransValid (const Interval &valid)=0

virtual void	SetRotValid (const Interval &valid)=0

virtual void	SetTRValid (const Interval &valid)=0

virtual void	SetPrefTrans (const Point3 &val, TimeValue t=0)=0

virtual void	SetPrefRot (const Point3 &val, TimeValue t=0)=0

virtual void	SetPrefTR (const Point3 &trans, const Point3 &rot, TimeValue t=0)=0

Additional Inherited Members
Static Public Member Functions inherited from MaxHeapOperators
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Member Typedef Documentation

typedef IKSys::DofAxis DofAxis

typedef IKSys::JointType JointType

typedef IKSys::DofSet DofSet

Member Function Documentation

virtual bool DofActive ( DofAxis ) const

pure virtual

Remarks: This method allows you to determine which degrees of freedom are active and inactive for the translational and rotational axes.

Parameters:: DofAxis

The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.

Returns: TRUE if the specified DOF axis is active, otherwise FALSE.

virtual DofSet ActiveTrans ( ) const

pure virtual

Remarks: This method allows you to determine which degrees of freedom are active and inactive for the translational axes. The returned DofSet can be tested for IKSys::DofX, IKSys::DofX, and IKSys::DofX.

Returns: A DofSet structure containing the translational axes.

virtual DofSet ActiveRot ( ) const

pure virtual

Remarks: This method allows you to determine which degrees of freedom are active and inactive for the rotational axes. The returned DofSet can be tested for IKSys::DofX, IKSys::DofX, and IKSys::DofX.

Returns: A DofSet structure containing the translational axes.

virtual DofSet ActiveDofs ( ) const

pure virtual

Remarks: This method allows you to determine which degrees of freedom are active and inactive for the translational and rotational axes. The returned DofSet can be tested for IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.

Returns: A DofSet structure containing the translational and rotational axes.

virtual INodeTab IKChains ( JointType ) const

pure virtual

Remarks: This method returns a list of IK Chain nodes. Note that nn IK chain starts at the rotational joint of the Start Joint and ends at the sliding joint of the End Joint.

Parameters:: JointType

The joint type, either IKSys::SlidingJoint or IKSys::RotationalJoint.

Returns: The node table of IK Chain nodes.

virtual bool DofLowerLimited ( DofAxis ) const

pure virtual

Remarks: This method allows you to check if a specific DOF axis has its lower bounds limited.

Parameters:: DofAxis

The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.

Returns: TRUE if limited, otherwise FALSE.

virtual bool DofUpperLimited ( DofAxis ) const

pure virtual

Remarks: This method allows you to check if a specific DOF axis has its upper bounds limited.

Parameters:: DofAxis

The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.

Returns: TRUE if limited, otherwise FALSE.

virtual Point2 DofLimits ( DofAxis ) const

pure virtual

Remarks: This method allows you to check if a specific DOF axis has its upper and lower bounds limited.

Parameters:: DofAxis

The DOF axis to check, which is one of the following IKSys::TransX, IKSys::TransY, IKSys::TransZ, IKSys::RotX, IKSys::RotY, IKSys::RotZ.

Returns: A Point2 where X and Y are the lower and upper limits, respectively.

virtual Point3 TransLowerLimits ( ) const

pure virtual

Remarks: This method allows you to retrieve the translation lower limits.

Returns: A Point3 where X, Y, and Z represents the actual limits.

virtual Point3 TransUpperLimits ( ) const

pure virtual

Remarks: This method allows you to retrieve the translation upper limits.

Returns: A Point3 where X, Y, and Z represents the actual limits.

virtual Point3 RotLowerLimits ( ) const

pure virtual

Remarks: This method allows you to retrieve the rotational lower limits.

Returns: A Point3 where X, Y, and Z represents the actual limits.

virtual Point3 RotUpperLimits ( ) const

pure virtual

Remarks: This method allows you to retrieve the rotational upper limits.

Returns: A Point3 where X, Y, and Z represents the actual limits.

virtual bool IKBound	(	TimeValue	t,
		JointType	jt
	)

pure virtual

Remarks: The parameter that decides whether an individual degree of freedom is active is not animatable. There is an animatable variable of IK chain that decides whether the goal defined in the IK chain actually affects the joints it covers at a specific time. This method allows you to query that.

Parameters:: TimeValue t

The time at which to test the joint type.

JointType jt

The joint type, either IKSys::SlidingJoint or IKSys::RotationalJoint.

Returns: TRUE if bound, otherwise FALSE.

virtual Control* FKSubController ( ) const

pure virtual

Remarks: This method allows you to obtain a pointer to the Forward Kinematics sub-controller. Note that the IK controller is not designed to be instanced. It is expected to have a unique node.

virtual INode* GetNode ( ) const

pure virtual

Remarks: This method allows you to obtain a pointer to the node that holds the Forward Kinematics TM controller.

virtual Point3 PrefPosition	(	TimeValue	t,
		Interval &	validityInterval
	)

pure virtual

Remarks: This method allows you to retrieve the preferred position of translation.

Parameters

t	- The time at which to retrieve the preferred position.
validityInterval	- The interval into which the validity of the evaluated parameters is intersected.

Returns: The X, Y, and Z, preferred position.

virtual Point3 PrefRotation	(	TimeValue	t,
		Interval &	validityInterval
	)

pure virtual

Remarks: This method allows you to retrieve the preferred angle of rotation.

Parameters:

Parameters

t	- The time at which to retrieve the preferred angle.
validityInterval	- The interval into which the validity of the evaluated parameters is intersected.

Returns: The X, Y, and Z, preferred angles.

virtual Point3 TransValues	(	TimeValue	,
		Interval *	= `0`
	)

pure virtual

virtual Point3 RotValues	(	TimeValue	,
		Interval *	= `0`
	)

pure virtual

virtual void AssignTrans	(	const Point3 &	,
		const Interval &
	)

pure virtual

Remarks: This method allows you to set the angles of translational joints. Note that this method does not adjust the validity interval.

Parameters:: const Point3&

The joint angles.

const Interval&

The validity interval

virtual void AssignRot	(	const Point3 &	,
		const Interval &
	)

pure virtual

Remarks: This method allows you to set the angles of rotational joints. Note that this method does not adjust the validity interval.

Parameters:: const Point3&

The joint angles.

const Interval&

The validity interval

virtual void AssignActiveTrans	(	const Point3 &	,
		const Interval &
	)

pure virtual

Remarks: This method allows you to set the angles of translational joints. Note that this method will skip those degrees of freedom that are not active and that this method will not adjust the validity interval.

Parameters:: const Point3&

The joint angles.

const Interval&

The validity interval

virtual void AssignActiveRot	(	const Point3 &	,
		const Interval &
	)

pure virtual

Remarks: This method allows you to set the angles of rotational joints. Note that this method will skip those degrees of freedom that are not active and that this method does not adjust the validity interval.

Parameters:: const Point3&

The joint angles.

const Interval&

The validity interval

virtual void AssignActiveTrans	(	const DofSet &	,
		const float	[],
		const Interval &
	)

pure virtual

Remarks: This method allows you to set the angles of translational joints. The active DOF's are given as the first argument of type DofSet and the new values are supplied as a float array whose size should be the same as the DofSet [DofSet::Count()].Note that this method does not adjust the validity interval.

Parameters:: const DofSet&

The degrees of freedom.

const float[]

The new angles you wish to set.

const Interval&

The validity interval

virtual void AssignActiveRot	(	const DofSet &	,
		const float	[],
		const Interval &
	)

pure virtual

Remarks: This method allows you to set the angles of rotational joints. The active DOF's are given as the first argument of type DofSet and the new values are supplied as a float array whose size should be the same as the DofSet [DofSet::Count()].Note that this method does not adjust the validity interval.

Parameters:: const DofSet&

The degrees of freedom.

const float[]

The new angles you wish to set.

const Interval&

The validity interval

virtual void SetTransValid ( const Interval & valid )

pure virtual

Remarks: This method allows you to set the validity interval for translational joint angles.

Parameters:: const Interval& valid

The validity interval.

virtual void SetRotValid ( const Interval & valid )

pure virtual

Remarks: This method allows you to set the validity interval for rotational joint angles.

Parameters:: const Interval& valid

The validity interval.

virtual void SetTRValid ( const Interval & valid )

pure virtual

Remarks: This method allows you to set the validity interval for both translational and rotational joint angles.

Parameters:: const Interval& valid

The validity interval.

virtual void SetPrefTrans	(	const Point3 &	val,
		TimeValue	t = `0`
	)

pure virtual

Remarks: A solver may start off the solution process with joint angles being set to special values, preferred angles. This method allows you to set the preferred angles of the translational joints.

Parameters:: const Point3& val

The preferred angles you wish to set.

TimeValue t = 0

The time at which to set them.

virtual void SetPrefRot	(	const Point3 &	val,
		TimeValue	t = `0`
	)

pure virtual

Remarks: A solver may start off the solution process with joint angles being set to special values, preferred angles. This method allows you to set the preferred angles of the rotational joints.

Parameters:: const Point3& val

The preferred angles you wish to set.

TimeValue t = 0

The time at which to set them.

virtual void SetPrefTR	(	const Point3 &	trans,
		const Point3 &	rot,
		TimeValue	t = `0`
	)

pure virtual

Remarks: A solver may start off the solution process with joint angles being set to special values, preferred angles. This method allows you to set the preferred angles of both the translational and rotational joints.

Parameters:: const Point3& trans

The preferred translational angles you wish to set.

const Point3& rot

The preferred rotational angles you wish to set.

TimeValue t = 0

The time at which to set them.

IIKControl Class Reference

Class Description

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

Member Function Documentation