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/**
* $Id$
* ***** 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_Solver_Class
#define NAN_INCLUDED_IK_Solver_Class
#include "IK_QChain.h"
#include "IK_QJacobianSolver.h"
#include "IK_QSegment.h"
#include "MEM_SmartPtr.h"
/**
* This class just contains all instances of internal data
* associated with the external chain structure needed for
* an ik solve. A pointer to this class gets hidden in the
* external structure as a void pointer.
*/
class IK_QSolver_Class {
public :
static
IK_QSolver_Class *
New(
){
MEM_SmartPtr<IK_QSolver_Class> output (new IK_QSolver_Class);
MEM_SmartPtr<IK_QJacobianSolver> solver (IK_QJacobianSolver::New());
if (output == NULL ||
solver == NULL
) {
return NULL;
}
output->m_solver = solver.Release();
return output.Release();
};
IK_QChain &
Chain(
) {
return m_chain;
};
IK_QJacobianSolver &
Solver(
) {
return m_solver.Ref();
}
~IK_QSolver_Class(
) {
// nothing to do
}
private :
IK_QSolver_Class(
) {
};
IK_QChain m_chain;
MEM_SmartPtr<IK_QJacobianSolver> m_solver;
};
#endif
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