forked from bartvdbraak/blender
159 lines
3.3 KiB
C++
159 lines
3.3 KiB
C++
/*
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* $Id$
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Original author: Laurence
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* Contributor(s): Brecht
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/** \file iksolver/intern/IK_QTask.h
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* \ingroup iksolver
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*/
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#ifndef NAN_INCLUDED_IK_QTask_h
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#define NAN_INCLUDED_IK_QTask_h
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#include "MT_Vector3.h"
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#include "MT_Transform.h"
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#include "MT_Matrix4x4.h"
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#include "IK_QJacobian.h"
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#include "IK_QSegment.h"
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class IK_QTask
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{
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public:
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IK_QTask(
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int size,
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bool primary,
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bool active,
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const IK_QSegment *segment
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);
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virtual ~IK_QTask() {};
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int Id() const
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{ return m_size; }
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void SetId(int id)
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{ m_id = id; }
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int Size() const
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{ return m_size; }
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bool Primary() const
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{ return m_primary; }
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bool Active() const
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{ return m_active; }
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MT_Scalar Weight() const
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{ return m_weight*m_weight; }
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void SetWeight(MT_Scalar weight)
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{ m_weight = sqrt(weight); }
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virtual void ComputeJacobian(IK_QJacobian& jacobian)=0;
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virtual MT_Scalar Distance() const=0;
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virtual bool PositionTask() const { return false; }
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virtual void Scale(float) {}
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protected:
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int m_id;
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int m_size;
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bool m_primary;
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bool m_active;
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const IK_QSegment *m_segment;
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MT_Scalar m_weight;
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};
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class IK_QPositionTask : public IK_QTask
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{
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public:
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IK_QPositionTask(
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bool primary,
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const IK_QSegment *segment,
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const MT_Vector3& goal
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);
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void ComputeJacobian(IK_QJacobian& jacobian);
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MT_Scalar Distance() const;
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bool PositionTask() const { return true; }
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void Scale(float scale) { m_goal *= scale; m_clamp_length *= scale; }
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private:
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MT_Vector3 m_goal;
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MT_Scalar m_clamp_length;
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};
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class IK_QOrientationTask : public IK_QTask
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{
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public:
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IK_QOrientationTask(
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bool primary,
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const IK_QSegment *segment,
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const MT_Matrix3x3& goal
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);
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MT_Scalar Distance() const { return m_distance; };
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void ComputeJacobian(IK_QJacobian& jacobian);
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private:
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MT_Matrix3x3 m_goal;
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MT_Scalar m_distance;
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};
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class IK_QCenterOfMassTask : public IK_QTask
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{
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public:
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IK_QCenterOfMassTask(
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bool primary,
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const IK_QSegment *segment,
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const MT_Vector3& center
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);
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void ComputeJacobian(IK_QJacobian& jacobian);
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MT_Scalar Distance() const;
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void Scale(float scale) { m_goal_center *= scale; m_distance *= scale; }
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private:
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MT_Scalar ComputeTotalMass(const IK_QSegment *segment);
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MT_Vector3 ComputeCenter(const IK_QSegment *segment);
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void JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& center, const IK_QSegment *segment);
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MT_Vector3 m_goal_center;
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MT_Scalar m_total_mass_inv;
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MT_Scalar m_distance;
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};
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#endif
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