Interface to Inverse Kinematics Handles.
#include <AlIKHandle.h>
class AlIKHandle : public AlObject , public AlAnimatable
AlIKHandle( void );
virtual ~AlIKHandle();
virtual statusCode deleteObject();
virtual AlObject* copyWrapper() const;
virtual AlObjectType type() const;
statusCode createSingle( AlJoint*, AlJoint* );
statusCode createMulti( AlJoint*, AlJoint*,
AlIKHandleGoalType );
statusCode createSpline (AlJoint*, AlJoint*, AlCurveNode*, AlIKHandle*);
statusCode createSpline (AlJoint*, AlJoint*, AlCurveNode*);
boolean on( void ) const;
AlIKHandleSolverType solverType( void ) const;
AlIKHandleGoalType goalType( void ) const;
double weight( void ) const;
AlIKHandleRotationOrder rotationOrder( void ) const;
boolean worldOrientation( void ) const;
statusCode restRotation( double[3] ) const;
AlJoint* root( void ) const;
AlJoint* endEffector( void ) const;
AlDagNode* rootNode( void ) const;
AlDagNode* endEffectorNode( void ) const;
AlIKHandlePositionType positionType( void ) const;
AlIKHandleTwistType twistType( void ) const;
AlCurveNode* curveNode( void ) const;
boolean oneJointHandle( void ) const;
boolean touchRootHandle( void ) const;
AlIKHandlePositionType splineChainPosition( double* ) const;
AlIKHandleTwistType splineChainTwist( double* ) const;
double splineChainRoll( void ) const;
statusCode setOn( boolean );
statusCode setGoalType( AlIKHandleGoalType );
statusCode setWeight( double );
statusCode setRotationOrder( AlIKHandleRotationOrder );
statusCode setWorldOrientation( boolean );
statusCode setRestRotation( const double[3] );
statusCode assumeRestRotation( void );
statusCode setPositionType( AlIKHandlePositionType );
statusCode setTwistType ( AlIKHandleTwistType );
AlIKHandleNode* handleNode( void ) const;
A skeleton is a collection of joint DAG nodes that have no particularly special behavior until IK handles are applied to them. In order to use inverse kinematics in Alias, you must create IK handles that define paths along skeletons to be constrained by IK.
An IK handle is defined by two joints. The end effector is the point on the skeleton that is free to move, and the root is the anchor point on the skeleton. When the end effector is moved, the rotations on all joints leading up to the root are constrained to provide an appropriate IK solution.
The IK handle also specifies the solver that will be used. There are two kinds of IK solvers in Alias:
Single-chain IK handles are always position handles - the rotations of the joints above the end-effector, and below or at the root, are transformed to meet the position of the end-effector.
Multi-solver IK handles can be position or orientation goals or both. An orientation goal will try to match the orientation of the bone immediately above the end-effector to the orientation of the IK handle.
Multi-solver IK handles also have weights. When several multi-solver IK handles overlap, the weights on these handles are used to determine the relative effect each solution has on the overall rotation of the joints in the affected skeleton.
Constructs an AlIKHandle wrapper object.
Deletes an AlIKHandle wrapper object.
An object wrapper duplicator for AlIKHandle.
Returns the class identifier kIKHandleType;
Deletes the actual handle corresponding to this AlIKHandle.
Builds a new single-chain IK handle when given the root and end effector joints. Single-chain IK handles are always position handles.
Note: The chain from the root to the end should be on its rest pose before the single chain IK handle is created.
< root - the root joint of the handle
< end - the end effector joint of the handle
sSuccess - successful completion
sInvalidArgument - either the root or the end was not valid
sFailure - the request could not be completed
Builds a new multi-IK handle, given the root and end effector nodes and the goal type of the handle. Returns statusCode, indicating whether the IK handle was successfully constructed.
< root - the root joint of the handle
< end - the end effector joint of the handle
< tp - the solver type for the handle: kSingleChain or kMultiSolver
< goal - specifies the kind of goal to give this handle: kPositionGoal, kOrientationGoal, or kBothGoal (position and orientation)
sSuccess - successful completion
sInvalidArgument - one of root or end was not valid
sFailure - the request could not be completed
Builds a pair of new spline IK handles: master spline handle and its root spline handle. You must specify the root, end joints and the curve to be matched with. The rHandle must be a NULL AlIKHandle pointer which is to be set with an associated one-joint spline handle for 'this' handle.
A root spline handle EQUALS a one-joint handle. It can only be created when a master spline handle is created. (That is, it cannot be created separately.)
A one-joint spline handle can be set to different position types with AlIKHandlePositionType.
A master spline handle can be set to different twist types with AlIKHandleTwistType.
This function creates spline handles in default position type (kParameter) and twist type (kTwist_Linear). They can be changed later by setPositionType() and setTwistType().
<root - the root joint of the handle
<end - the end joint of the handle
<curve - the target of the handle
<rHandle - a reference for an empty AlIKHandle pointer
>rHandle - may or may not be set. If set, the rHandle is a pointer to a created root spline handle.
sSuccess - successful completion
sInvalidArgument - one of root or end was not valid
sFailure - the request could not be completed
Builds a master spline handle without root spline handle. Requires the root and end joints, also the curve to be matched with.
This function creates a spline handle in default position type (kParameter) and twist type (kTwist_Linear). They can be changed later by setPositionType() and setTwistType().
< root - the root joint of the handle
< end - the end joint of the handle
< curve - the target of the handle
sSuccess - successful completion
sInvalidArgument - one of root or end was not valid
sFailure - the request could not be completed
Returns whether or not this IK handle is currently enabled.
Returns the IK algorithm being used on this handle, multi-solver or single chain. If the object is not valid, single chain is returned.
Returns the goal type of this AlIKHandle: kPositionGoal, kOrientationGoal, or kBothGoal.
Returns the weight on this IK handle. If the AlIKHandle is invalid, or not a multi-handle, -1 is returned.
Returns the rotation order applied to this IK handle. This method only applies to single-chain IK handles.
Returns true if this single-chain IK handle controls its rotate_plane in world space. Returns false if this IK handle is not a single-chain handle or controls its rotate plane in local space.
Returns the rest rotation of the single-chain IK handle.
> restRot - rest rotation of the single-chain IK handle.
sSuccess - the rest rotation was found
sInvalidArgument - the rest rotation is null
sInvalidObject - invalid IK handle
Gets the root AlJoint in the chain referenced by this IK handle.
Gets the end effector AlJoint in the chain referenced by this IK handle.
Gets the AlDagNode corresponding to the root AlJoint in the chain referenced by this IK handle.
Gets the AlDagNode corresponding to the end effector AlJoint in the chain referenced by this IK handle.
Returns the position type of this AlIKHandle. This method only applies to spline handles.
Returns the twist type of this AlIKHandle. This method only applies to spline handles.
Gets the curve node (AlCurveNode) defined by this spline handle. This function only applies to spline handles.
Returns true if this IK handle is a spline handle and is one joint handle.
Returns true if this handle is a spline handle and directly under a one-joint spline handle.
Returns the spline chain position in curve space.
Returns the spline handle twist angle and type.
Returns the roll angle of a spline handle.
Sets the goal type of this IK handle to kPositionGoal, kOrientationGoal or kBothGoal. This method can only be used on multi-handles.
Sets the weight of this AlIKHandle to the passed-in value. Note that this can only be done for AlIKHandles that have a solver type of kMultiSolver.
Sets the rotation order of this IK handle to the passed-in value. This method only applies to single-chain IK handles.
If set to true, sets this single-chain IK handle to control its rotate-plane in world space. Otherwise, the rotate-plane is controlled in local space. This method only applies to single-chain IK handles.
Sets a new rest rotation for the single-chain IK handle.
< restRot - rest rotation for this single-chain IK handle.
sSuccess - the rest rotation was set
sInvalidArgument - the value of the rest rotation was null
sInvalidObject - the single-chain IK handle is not valid
Returns the single-chain IK handle to its rest pose.
sSuccess - the handle was returned to its rest pose
sInvalidObject - the single-chain IK handle is not valid
Sets this spline handle's position type. This method only applies to root spline handles (one-joint handles).
Sets this spline handle's twist type. This method only applies to master spline handles.
Returns the IK handle node associated with this IK handle. Returns NULL if there is no attached IK handle node.