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Diffstat (limited to 'indra/llcharacter/lljointsolverrp3.h')
| -rw-r--r-- | indra/llcharacter/lljointsolverrp3.h | 352 |
1 files changed, 176 insertions, 176 deletions
diff --git a/indra/llcharacter/lljointsolverrp3.h b/indra/llcharacter/lljointsolverrp3.h index d6080a1ab2..db0a935fea 100644 --- a/indra/llcharacter/lljointsolverrp3.h +++ b/indra/llcharacter/lljointsolverrp3.h @@ -1,176 +1,176 @@ -/** - * @file lljointsolverrp3.h - * @brief Implementation of LLJointSolverRP3 class - * - * $LicenseInfo:firstyear=2001&license=viewerlgpl$ - * Second Life Viewer Source Code - * Copyright (C) 2010, Linden Research, Inc. - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; - * version 2.1 of the License only. - * - * This library 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 - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with this library; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA - * $/LicenseInfo$ - */ - -#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 - +/**
+ * @file lljointsolverrp3.h
+ * @brief Implementation of LLJointSolverRP3 class
+ *
+ * $LicenseInfo:firstyear=2001&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2010, Linden Research, Inc.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
+ * $/LicenseInfo$
+ */
+
+#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
+
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