diff options
Diffstat (limited to 'intern/iksolver/intern/IK_QSegment.h')
| -rw-r--r-- | intern/iksolver/intern/IK_QSegment.h | 290 |
1 files changed, 290 insertions, 0 deletions
diff --git a/intern/iksolver/intern/IK_QSegment.h b/intern/iksolver/intern/IK_QSegment.h new file mode 100644 index 00000000000..0c0e3a7f8bc --- /dev/null +++ b/intern/iksolver/intern/IK_QSegment.h @@ -0,0 +1,290 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ + +/** + + * $Id$ + * Copyright (C) 2001 NaN Technologies B.V. + * + * @author Laurence + */ +#ifndef NAN_INCLUDED_IK_QSegment_h +#define NAN_INCLUDED_IK_QSegment_h + + +#include "MT_Vector3.h" +#include "MT_Transform.h" +#include "MT_Matrix4x4.h" +#include "MT_ExpMap.h" + +#include <vector> + +/** + * An IK_Qsegment encodes information about a segments + * local coordinate system. + * In these segments exponential maps are used to parameterize + * the 3 DOF joints. Please see the file MT_ExpMap.h for more + * information on this parameterization. + * + * These segments always point along the y-axis. + * + * Here wee define the local coordinates of a joint as + * local_transform = + * translate(tr1) * rotation(A) * rotation(q) * translate(0,length,0) + * We use the standard moto column ordered matrices. You can read + * this as: + * - first translate by (0,length,0) + * - multiply by the rotation matrix derived from the current + * angle parameterization q. + * - multiply by the user defined matrix representing the rest + * position of the bone. + * - translate by the used defined translation (tr1) + * The ordering of these transformations is vital, you must + * use exactly the same transformations when displaying the segments + */ + +class IK_QSegment { + +public : + + /** + * Constructor. + * @param tr1 a user defined translation + * @param a used defined rotation matrix representin + * the rest position of the bone. + * @param the length of the bone. + * @param an exponential map can also be used to + * define the bone rest position. + */ + + IK_QSegment( + const MT_Point3 tr1, + const MT_Matrix3x3 A, + const MT_Scalar length, + const MT_ExpMap q + ); + + /** + * Default constructor + * Defines identity local coordinate system, + * with a bone length of 1. + */ + + + IK_QSegment( + ); + + + /** + * @return The length of the segment + */ + + const + MT_Scalar + Length( + ) const ; + + /** + * @return the max distance of the end of this + * bone from the local origin. + */ + + const + MT_Scalar + MaxExtension( + ) const ; + + /** + * @return The transform from adjacent + * coordinate systems in the chain. + */ + + const + MT_Transform & + LocalTransform( + ) const ; + + const + MT_ExpMap & + LocalJointParameter( + ) const; + + /** + * Update the global coordinates of this segment. + * @param global the global coordinates of the + * previous bone in the chain + * @return the global coordinates of this segment. + */ + + MT_Transform + UpdateGlobal( + const MT_Transform & global + ); + + /** + * @return The global transformation + */ + + MT_Transform + GlobalTransform( + ) const; + + + /** + * Update the accumulated local transform of this segment + * The accumulated local transform is the end effector + * transform in the local coordinates of this segment. + * @param acc_local the accumulated local transform of + * the child of this bone. + * @return the accumulated local transorm of this segment + */ + + MT_Transform + UpdateAccumulatedLocal( + const MT_Transform & acc_local + ); + + /** + * @return A const reference to accumulated local + * transform of this segment. + */ + + const + MT_Transform & + AccumulatedLocal( + ) const; + + /** + * @return A const Reference to start of segment in global + * coordinates + */ + + const + MT_Vector3 & + GlobalSegmentStart( + ) const; + + /** + * @return A const Reference to end of segment in global + * coordinates + */ + + const + MT_Vector3 & + GlobalSegmentEnd( + ) const; + + + /** + * @return the partial derivative of the end effector + * with respect to one of the degrees of freedom of this + * segment. + * @param angle the angle parameter you want to compute + * the partial derivatives for. For these segments this + * must be in the range [0,2] + */ + + MT_Vector3 + ComputeJacobianColumn( + int angle + ) const ; + + /** + * Explicitly set the angle parameterization value. + */ + + void + SetAngle( + const MT_ExpMap &q + ); + + /** + * Increment the angle parameterization value. + */ + + void + IncrementAngle( + const MT_Vector3 &dq + ); + + + /** + * Return the parameterization of this angle + */ + + const + MT_ExpMap & + ExpMap( + ) const { + return m_q; + }; + + +private : + + void + UpdateLocalTransform( + ); + + +private : + + /** + * m_transform The user defined transformation, composition of the + * translation and rotation from constructor. + */ + MT_Transform m_transform; + + /** + * The exponential map parameterization of this joint. + */ + + MT_ExpMap m_q; + MT_Scalar m_length; + + /** + * The maximum extension of this segment + * This is the magnitude of the user offset + the length of the + * chain + */ + + MT_Scalar m_max_extension; + + MT_Transform m_local_transform; + MT_Transform m_global_transform; + MT_Transform m_accum_local; + + MT_Vector3 m_seg_start; + MT_Vector3 m_seg_end; + +}; + +#endif
\ No newline at end of file |