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Diffstat (limited to 'indra/llcharacter/lljointsolverrp3.h')
| -rw-r--r-- | indra/llcharacter/lljointsolverrp3.h | 158 |
1 files changed, 158 insertions, 0 deletions
diff --git a/indra/llcharacter/lljointsolverrp3.h b/indra/llcharacter/lljointsolverrp3.h new file mode 100644 index 0000000000..d1507351b6 --- /dev/null +++ b/indra/llcharacter/lljointsolverrp3.h @@ -0,0 +1,158 @@ +/** + * @file lljointsolverrp3.h + * @brief Implementation of LLJointSolverRP3 class + * + * Copyright (c) 2001-$CurrentYear$, Linden Research, Inc. + * $License$ + */ + +#ifndef LL_LLJOINTSOLVERRP3_H +#define LL_LLJOINTSOLVERRP3_H + +//----------------------------------------------------------------------------- +// Header Files +//----------------------------------------------------------------------------- +#include "lljoint.h" + +/* -some compilers don't like line continuation chars- +//----------------------------------------------------------------------------- +// class LLJointSolverRP3 +// +// This class is a "poor man's" IK for simple 3 joint kinematic chains. +// It is modeled after the 'ikRPSolver' in Maya. +// This class takes 4 LLJoints: +// jointA +// jointB +// jointC +// jointGoal +// +// Such that jointA is the parent of jointB, jointB is the parent of jointC. +// When invoked, this class modifies the rotations of jointA and jointB such +// that the position of the jointC attempts to reach the position of jointGoal. +// +// At object initialization time, the distances between jointA - jointB and +// jointB - jointC are cached. During evaluation these bone lengths are +// preserved. +// +// A A +// | | +// | | +// B B---CG A---B---C...G +// \ +// \ +// CG +// +// +// In addition a "poleVector" is specified that does two things: +// +// a) defines the plane in which the solution occurs, thus +// reducing an infinite number of solutions, down to 2. +// +// b) disambiguates the resulting two solutions as follows: +// +// A A A--->poleVector +// | \ \ +// | \ \ +// B vs. B ==> B +// \ | | +// \ | | +// CG CG CG +// +// A "twist" setting allows the solution plane to be rotated about the +// line between A and C. A handy animation feature. +// +// For "smarter" results for non-coplanar limbs, specify the joints axis +// of bend in the B's local frame (see setBAxis()) +//----------------------------------------------------------------------------- +*/ + +class LLJointSolverRP3 +{ +protected: + LLJoint *mJointA; + LLJoint *mJointB; + LLJoint *mJointC; + LLJoint *mJointGoal; + + F32 mLengthAB; + F32 mLengthBC; + + LLVector3 mPoleVector; + LLVector3 mBAxis; + BOOL mbUseBAxis; + + F32 mTwist; + + BOOL mFirstTime; + LLMatrix4 mSavedJointAMat; + LLMatrix4 mSavedInvPlaneMat; + + LLQuaternion mJointABaseRotation; + LLQuaternion mJointBBaseRotation; + +public: + //------------------------------------------------------------------------- + // Constructor/Destructor + //------------------------------------------------------------------------- + LLJointSolverRP3(); + virtual ~LLJointSolverRP3(); + + //------------------------------------------------------------------------- + // setupJoints() + // This must be called one time to setup the solver. + // This must be called AFTER the skeleton has been created, all parent/child + // relationships are established, and after the joints are placed in + // a valid configuration (as distances between them will be cached). + //------------------------------------------------------------------------- + void setupJoints( LLJoint* jointA, + LLJoint* jointB, + LLJoint* jointC, + LLJoint* jointGoal ); + + //------------------------------------------------------------------------- + // getPoleVector() + // Returns the current pole vector. + //------------------------------------------------------------------------- + const LLVector3& getPoleVector(); + + //------------------------------------------------------------------------- + // setPoleVector() + // Sets the pole vector. + // The pole vector is defined relative to (in the space of) jointA's parent. + // The default pole vector is (1,0,0), and this is used if this function + // is never called. + // This vector is normalized when set. + //------------------------------------------------------------------------- + void setPoleVector( const LLVector3& poleVector ); + + //------------------------------------------------------------------------- + // setBAxis() + // Sets the joint's axis in B's local frame, and enable "smarter" solve(). + // This allows for smarter IK when for twisted limbs. + //------------------------------------------------------------------------- + void setBAxis( const LLVector3& bAxis ); + + //------------------------------------------------------------------------- + // getTwist() + // Returns the current twist in radians. + //------------------------------------------------------------------------- + F32 getTwist(); + + //------------------------------------------------------------------------- + // setTwist() + // Sets the twist value. + // The default is 0.0. + //------------------------------------------------------------------------- + void setTwist( F32 twist ); + + //------------------------------------------------------------------------- + // solve() + // This is the "work" function. + // When called, the rotations of jointA and jointB will be modified + // such that jointC attempts to reach jointGoal. + //------------------------------------------------------------------------- + void solve(); +}; + +#endif // LL_LLJOINTSOLVERRP3_H + |