diff options
Diffstat (limited to 'intern/iksolver/intern/IK_Segment.h')
| -rw-r--r-- | intern/iksolver/intern/IK_Segment.h | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/intern/iksolver/intern/IK_Segment.h b/intern/iksolver/intern/IK_Segment.h new file mode 100644 index 00000000000..35018df7859 --- /dev/null +++ b/intern/iksolver/intern/IK_Segment.h @@ -0,0 +1,217 @@ +/** + * $Id$ + * ***** 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 ***** + */ + +#ifndef NAN_INCLUDED_Segment_h + +#define NAN_INCLUDED_Segment_h + +/** + * @author Laurence Bourn + * @date 28/6/2001 + */ + + +#include "MT_Vector3.h" +#include "MT_Transform.h" +#include <vector> + +class IK_Segment { + +public : + + /** + * Constructor. + * @warning This class uses axis angles for it's parameterization. + * Axis angles are a poor representation for joints of more than 1 DOF + * because they suffer from Gimbal lock. This becomes noticeable in + * IK solutions. A better solution is to do use a quaternion to represent + * angles with 3 DOF + */ + + IK_Segment( + const MT_Point3 tr1, + const MT_Matrix3x3 A, + const MT_Scalar length, + const bool pitch_on, + const bool yaw_on, + const bool role_on + ); + + + IK_Segment( + ); + + + /** + * @return The length of the segment + */ + + const + MT_Scalar + Length( + ) const ; + + /** + * @return The transform from adjacent + * coordinate systems in the chain. + */ + + const + MT_Transform & + LocalTransform( + ) const ; + + + /** + * Get the segment to compute it's + * global transform given the global transform + * of the parent. This method also updtes the + * global segment start + */ + + void + UpdateGlobal( + const MT_Transform & global + ); + + /** + * @return A const reference to the global trnasformation + */ + + const + MT_Transform & + GlobalTransform( + ) const; + + /** + * @return A const Reference to start of segment in global + * coordinates + */ + + const + MT_Vector3 & + GlobalSegmentStart( + ) const; + + /** + * Computes the number of degrees of freedom of this segment + */ + + int + DoF( + ) const; + + + /** + * Increment the active angles (at most DoF()) by + * d_theta. Which angles are incremented depends + * on which are active. + * @return DoF() + * @warning Bad interface + */ + + int + IncrementAngles( + MT_Scalar *d_theta + ); + + + // FIXME - interface bloat + + /** + * @return the vectors about which the active + * angles operate + */ + + const + std::vector<MT_Vector3> & + AngleVectors( + ) const; + + /** + * @return the ith active angle + */ + + MT_Scalar + ActiveAngle( + int i + ) const; + + /** + * @return the ith angle + */ + MT_Scalar + Angle( + int i + ) const; + + + /** + * Set the active angles from the array + * @return the number of active angles + */ + + int + SetAngles( + const MT_Scalar *angles + ); + + +private : + + void + UpdateLocalTransform( + ); + + + +private : + + /** The user defined transformation, composition of the + * translation and rotation from constructor. + */ + + MT_Transform m_transform; + MT_Scalar m_angles[3]; + MT_Scalar m_length; + + MT_Transform m_local_transform; + MT_Transform m_global_transform; + + bool m_active_angles[3]; + + MT_Vector3 m_seg_start; + + std::vector<MT_Vector3> m_angle_vectors; + +}; + +#endif
\ No newline at end of file |