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/*
* 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.
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
* Original author: Laurence
*/
/** \file
* \ingroup intern_iksolver
*/
/**
* \page IK - Blender inverse kinematics module.
*
* \section about About the IK module
*
* This module allows you to create segments and form them into
* tree. You can then define a goal points that the end of a given
* segment should attempt to reach - an inverse kinematic problem.
* This module will then modify the segments in the tree in order
* to get the as near as possible to the goal. This solver uses an
* inverse jacobian method to find a solution.
*
* \section issues Known issues with this IK solver.
*
* - There is currently no support for joint constraints in the
* solver. This is within the realms of possibility - please ask
* if this functionality is required.
* - The solver is slow, inverse jacobian methods in general give
* 'smooth' solutions and the method is also very flexible, it
* does not rely on specific angle parameterization and can be
* extended to deal with different joint types and joint
* constraints. However it is not suitable for real time use.
* Other algorithms exist which are more suitable for real-time
* applications, please ask if this functionality is required.
*
* \section dependencies Dependencies
*
* This module only depends on Moto.
*/
#ifndef __IK_SOLVER_H__
#define __IK_SOLVER_H__
#ifdef __cplusplus
extern "C" {
#endif
/**
* Typical order of calls for solving an IK problem:
*
* - create number of IK_Segment's and set their parents and transforms
* - create an IK_Solver
* - set a number of goals for the IK_Solver to solve
* - call IK_Solve
* - free the IK_Solver
* - get basis and translation changes from segments
* - free all segments
*/
/**
* IK_Segment defines a single segment of an IK tree.
* - Individual segments are always defined in local coordinates.
* - The segment is assumed to be oriented in the local
* y-direction.
* - start is the start of the segment relative to the end
* of the parent segment.
* - rest_basis is a column major matrix defineding the rest
* position (w.r.t. which the limits are defined), must
* be a pure rotation
* - basis is a column major matrix defining the current change
* from the rest basis, must be a pure rotation
* - length is the length of the bone.
*
* - basis_change and translation_change respectively define
* the change in rotation or translation. basis_change is a
* column major 3x3 matrix.
*
* The local transformation is then defined as:
* start * rest_basis * basis * basis_change * translation_change * translate(0,length,0)
*/
typedef void IK_Segment;
enum IK_SegmentFlag {
IK_XDOF = 1,
IK_YDOF = 2,
IK_ZDOF = 4,
IK_TRANS_XDOF = 8,
IK_TRANS_YDOF = 16,
IK_TRANS_ZDOF = 32
};
typedef enum IK_SegmentAxis {
IK_X = 0,
IK_Y = 1,
IK_Z = 2,
IK_TRANS_X = 3,
IK_TRANS_Y = 4,
IK_TRANS_Z = 5
} IK_SegmentAxis;
extern IK_Segment *IK_CreateSegment(int flag);
extern void IK_FreeSegment(IK_Segment *seg);
extern void IK_SetParent(IK_Segment *seg, IK_Segment *parent);
extern void IK_SetTransform(
IK_Segment *seg, float start[3], float rest_basis[][3], float basis[][3], float length);
extern void IK_SetLimit(IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax);
extern void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness);
extern void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3]);
extern void IK_GetTranslationChange(IK_Segment *seg, float *translation_change);
/**
* An IK_Solver must be created to be able to execute the solver.
*
* An arbitray number of goals can be created, stating that a given
* end effector must have a given position or rotation. If multiple
* goals are specified, they can be weighted (range 0..1) to get
* some control over their importance.
*
* IK_Solve will execute the solver, that will run until either the
* system converges, or a maximum number of iterations is reached.
* It returns 1 if the system converged, 0 otherwise.
*/
typedef void IK_Solver;
IK_Solver *IK_CreateSolver(IK_Segment *root);
void IK_FreeSolver(IK_Solver *solver);
void IK_SolverAddGoal(IK_Solver *solver, IK_Segment *tip, float goal[3], float weight);
void IK_SolverAddGoalOrientation(IK_Solver *solver,
IK_Segment *tip,
float goal[][3],
float weight);
void IK_SolverSetPoleVectorConstraint(IK_Solver *solver,
IK_Segment *tip,
float goal[3],
float polegoal[3],
float poleangle,
int getangle);
float IK_SolverGetPoleAngle(IK_Solver *solver);
int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations);
#define IK_STRETCH_STIFF_EPS 0.01f
#define IK_STRETCH_STIFF_MIN 0.001f
#define IK_STRETCH_STIFF_MAX 1e10
#ifdef __cplusplus
}
#endif
#endif // __IK_SOLVER_H__
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