1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
|
/*
* ***** BEGIN GPL 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.
*
* 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.
*
* The Original Code is: all of this file.
*
* Original author: Laurence
* Contributor(s): Brecht
*
* ***** END GPL LICENSE BLOCK *****
*/
/** \file iksolver/intern/IK_QTask.h
* \ingroup iksolver
*/
#ifndef __IK_QTASK_H__
#define __IK_QTASK_H__
#include "MT_Vector3.h"
#include "MT_Transform.h"
#include "MT_Matrix4x4.h"
#include "IK_QJacobian.h"
#include "IK_QSegment.h"
class IK_QTask
{
public:
IK_QTask(
int size,
bool primary,
bool active,
const IK_QSegment *segment
);
virtual ~IK_QTask() {};
int Id() const
{ return m_size; }
void SetId(int id)
{ m_id = id; }
int Size() const
{ return m_size; }
bool Primary() const
{ return m_primary; }
bool Active() const
{ return m_active; }
MT_Scalar Weight() const
{ return m_weight*m_weight; }
void SetWeight(MT_Scalar weight)
{ m_weight = sqrt(weight); }
virtual void ComputeJacobian(IK_QJacobian& jacobian)=0;
virtual MT_Scalar Distance() const=0;
virtual bool PositionTask() const { return false; }
virtual void Scale(MT_Scalar) {}
protected:
int m_id;
int m_size;
bool m_primary;
bool m_active;
const IK_QSegment *m_segment;
MT_Scalar m_weight;
};
class IK_QPositionTask : public IK_QTask
{
public:
IK_QPositionTask(
bool primary,
const IK_QSegment *segment,
const MT_Vector3& goal
);
void ComputeJacobian(IK_QJacobian& jacobian);
MT_Scalar Distance() const;
bool PositionTask() const { return true; }
void Scale(MT_Scalar scale) { m_goal *= scale; m_clamp_length *= scale; }
private:
MT_Vector3 m_goal;
MT_Scalar m_clamp_length;
};
class IK_QOrientationTask : public IK_QTask
{
public:
IK_QOrientationTask(
bool primary,
const IK_QSegment *segment,
const MT_Matrix3x3& goal
);
MT_Scalar Distance() const { return m_distance; };
void ComputeJacobian(IK_QJacobian& jacobian);
private:
MT_Matrix3x3 m_goal;
MT_Scalar m_distance;
};
class IK_QCenterOfMassTask : public IK_QTask
{
public:
IK_QCenterOfMassTask(
bool primary,
const IK_QSegment *segment,
const MT_Vector3& center
);
void ComputeJacobian(IK_QJacobian& jacobian);
MT_Scalar Distance() const;
void Scale(MT_Scalar scale) { m_goal_center *= scale; m_distance *= scale; }
private:
MT_Scalar ComputeTotalMass(const IK_QSegment *segment);
MT_Vector3 ComputeCenter(const IK_QSegment *segment);
void JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& center, const IK_QSegment *segment);
MT_Vector3 m_goal_center;
MT_Scalar m_total_mass_inv;
MT_Scalar m_distance;
};
#endif
|