diff options
Diffstat (limited to 'indra/llcharacter/lljointsolverrp3.h')
| -rw-r--r-- | indra/llcharacter/lljointsolverrp3.h | 164 |
1 files changed, 82 insertions, 82 deletions
diff --git a/indra/llcharacter/lljointsolverrp3.h b/indra/llcharacter/lljointsolverrp3.h index 88b5d08710..d6080a1ab2 100644 --- a/indra/llcharacter/lljointsolverrp3.h +++ b/indra/llcharacter/lljointsolverrp3.h @@ -1,25 +1,25 @@ -/** +/** * @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 * $/LicenseInfo$ */ @@ -52,7 +52,7 @@ // jointB - jointC are cached. During evaluation these bone lengths are // preserved. // -// A A +// A A // | | // | | // B B---CG A---B---C...G @@ -87,89 +87,89 @@ class LLJointSolverRP3 { protected: - LLJoint *mJointA; - LLJoint *mJointB; - LLJoint *mJointC; - LLJoint *mJointGoal; + LLJoint *mJointA; + LLJoint *mJointB; + LLJoint *mJointC; + LLJoint *mJointGoal; - F32 mLengthAB; - F32 mLengthBC; + F32 mLengthAB; + F32 mLengthBC; - LLVector3 mPoleVector; - LLVector3 mBAxis; - BOOL mbUseBAxis; + LLVector3 mPoleVector; + LLVector3 mBAxis; + BOOL mbUseBAxis; - F32 mTwist; + F32 mTwist; - BOOL mFirstTime; - LLMatrix4 mSavedJointAMat; - LLMatrix4 mSavedInvPlaneMat; + BOOL mFirstTime; + LLMatrix4 mSavedJointAMat; + LLMatrix4 mSavedInvPlaneMat; - LLQuaternion mJointABaseRotation; - LLQuaternion mJointBBaseRotation; + 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(); + //------------------------------------------------------------------------- + // 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 |