Differential D4455 Diff 14273 intern/iksolver/extern/IK_solver.h

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intern/iksolver/extern/IK_solver.h

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	*/			*/

	/** \file			/** \file
	* \ingroup iksolver			* \ingroup iksolver
	*/			*/


	/**			/**

	* Copyright (C) 2001 NaN Technologies B.V.
	*
	* \page IK - Blender inverse kinematics module.			* \page IK - Blender inverse kinematics module.
	*			*
	* \section about About the IK module			* \section about About the IK module
	*			*
	* This module allows you to create segments and form them into			* This module allows you to create segments and form them into
	* tree. You can then define a goal points that the end of a given			* tree. You can then define a goal points that the end of a given
	* segment should attempt to reach - an inverse kinematic problem.			* segment should attempt to reach - an inverse kinematic problem.
	* This module will then modify the segments in the tree in order			* This module will then modify the segments in the tree in order
	* to get the as near as possible to the goal. This solver uses an			* to get the as near as possible to the goal. This solver uses an
	* inverse jacobian method to find a solution.			* inverse jacobian method to find a solution.
	*			*
	* \section issues Known issues with this IK solver.			* \section issues Known issues with this IK solver.
	*			*
	* - There is currently no support for joint constraints in the			* - There is currently no support for joint constraints in the
	* solver. This is within the realms of possibility - please ask			* solver. This is within the realms of possibility - please ask
	* if this functionality is required.			* if this functionality is required.
	* - The solver is slow, inverse jacobian methods in general give			* - The solver is slow, inverse jacobian methods in general give
	* 'smooth' solutions and the method is also very flexible, it			* 'smooth' solutions and the method is also very flexible, it
	* does not rely on specific angle parameterization and can be			* does not rely on specific angle parameterization and can be
	* extended to deal with different joint types and joint			* extended to deal with different joint types and joint
	* constraints. However it is not suitable for real time use.			* constraints. However it is not suitable for real time use.
	* Other algorithms exist which are more suitable for real-time			* Other algorithms exist which are more suitable for real-time
	* applications, please ask if this functionality is required.			* applications, please ask if this functionality is required.
	*			*
	* \section dependencies Dependencies			* \section dependencies Dependencies
	*			*
	* This module only depends on Moto.			* This module only depends on Moto.
	*/			*/

	#ifndef __IK_SOLVER_H__			#ifndef __IK_SOLVER_H__
	#define __IK_SOLVER_H__			#define __IK_SOLVER_H__

	#ifdef __cplusplus			#ifdef __cplusplus
	extern "C" {			extern "C" {
	#endif			#endif

	/**			/**
	* Typical order of calls for solving an IK problem:			* Typical order of calls for solving an IK problem:
	*			*
	* - create number of IK_Segment's and set their parents and transforms			* - create number of IK_Segment's and set their parents and transforms
	* - create an IK_Solver			* - create an IK_Solver
	* - set a number of goals for the IK_Solver to solve			* - set a number of goals for the IK_Solver to solve
	* - call IK_Solve			* - call IK_Solve
	* - free the IK_Solver			* - free the IK_Solver
	* - get basis and translation changes from segments			* - get basis and translation changes from segments
	* - free all segments			* - free all segments
	*/			*/

	/**			/**
	* IK_Segment defines a single segment of an IK tree.			* IK_Segment defines a single segment of an IK tree.
	* - Individual segments are always defined in local coordinates.			* - Individual segments are always defined in local coordinates.
	* - The segment is assumed to be oriented in the local			* - The segment is assumed to be oriented in the local
	* y-direction.			* y-direction.
	* - start is the start of the segment relative to the end			* - start is the start of the segment relative to the end
	* of the parent segment.			* of the parent segment.
	* - rest_basis is a column major matrix defineding the rest			* - rest_basis is a column major matrix defineding the rest
	* position (w.r.t. which the limits are defined), must			* position (w.r.t. which the limits are defined), must
	* be a pure rotation			* be a pure rotation
	* - basis is a column major matrix defining the current change			* - basis is a column major matrix defining the current change
	* from the rest basis, must be a pure rotation			* from the rest basis, must be a pure rotation
	* - length is the length of the bone.			* - length is the length of the bone.
	*			*
	* - basis_change and translation_change respectively define			* - basis_change and translation_change respectively define
	* the change in rotation or translation. basis_change is a			* the change in rotation or translation. basis_change is a
	* column major 3x3 matrix.			* column major 3x3 matrix.
	*			*
	* The local transformation is then defined as:			* The local transformation is then defined as:
	* start * rest_basis * basis * basis_change * translation_change * translate(0,length,0)			* start * rest_basis * basis * basis_change * translation_change * translate(0,length,0)
	*/			*/

	typedef void IK_Segment;			typedef void IK_Segment;

	enum IK_SegmentFlag {			enum IK_SegmentFlag {
	IK_XDOF = 1,			IK_XDOF = 1,
	IK_YDOF = 2,			IK_YDOF = 2,
	IK_ZDOF = 4,			IK_ZDOF = 4,
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	extern void IK_SetLimit(IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax);			extern void IK_SetLimit(IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax);
	extern void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness);			extern void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness);

	extern void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3]);			extern void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3]);
	extern void IK_GetTranslationChange(IK_Segment seg, float translation_change);			extern void IK_GetTranslationChange(IK_Segment seg, float translation_change);

	/**			/**
	* An IK_Solver must be created to be able to execute the solver.			* An IK_Solver must be created to be able to execute the solver.
	*			*
	* An arbitray number of goals can be created, stating that a given			* An arbitray number of goals can be created, stating that a given
	* end effector must have a given position or rotation. If multiple			* end effector must have a given position or rotation. If multiple
	* goals are specified, they can be weighted (range 0..1) to get			* goals are specified, they can be weighted (range 0..1) to get
	* some control over their importance.			* some control over their importance.
	*			*
	* IK_Solve will execute the solver, that will run until either the			* IK_Solve will execute the solver, that will run until either the
	* system converges, or a maximum number of iterations is reached.			* system converges, or a maximum number of iterations is reached.
	* It returns 1 if the system converged, 0 otherwise.			* It returns 1 if the system converged, 0 otherwise.
	*/			*/

	typedef void IK_Solver;			typedef void IK_Solver;

	IK_Solver IK_CreateSolver(IK_Segment root);			IK_Solver IK_CreateSolver(IK_Segment root);
	void IK_FreeSolver(IK_Solver *solver);			void IK_FreeSolver(IK_Solver *solver);

	void IK_SolverAddGoal(IK_Solver solver, IK_Segment tip, float goal[3], float weight);			void IK_SolverAddGoal(IK_Solver solver, IK_Segment tip, float goal[3], float weight);
	void IK_SolverAddGoalOrientation(IK_Solver solver, IK_Segment tip, float goal[][3], float weight);			void IK_SolverAddGoalOrientation(IK_Solver solver, IK_Segment tip, float goal[][3], float weight);
	void IK_SolverSetPoleVectorConstraint(IK_Solver solver, IK_Segment tip, float goal[3], float polegoal[3], float poleangle, int getangle);			void IK_SolverSetPoleVectorConstraint(IK_Solver solver, IK_Segment tip, float goal[3], float polegoal[3], float poleangle, int getangle);
	float IK_SolverGetPoleAngle(IK_Solver *solver);			float IK_SolverGetPoleAngle(IK_Solver *solver);

	int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations);			int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations);

	#define IK_STRETCH_STIFF_EPS 0.01f			#define IK_STRETCH_STIFF_EPS 0.01f
	#define IK_STRETCH_STIFF_MIN 0.001f			#define IK_STRETCH_STIFF_MIN 0.001f
	#define IK_STRETCH_STIFF_MAX 1e10			#define IK_STRETCH_STIFF_MAX 1e10

	#ifdef __cplusplus			#ifdef __cplusplus
	}			}
	#endif			#endif

	#endif // __IK_SOLVER_H__			#endif // __IK_SOLVER_H__