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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 *****
*/
#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
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