Second Life viewer sources 1.13.2.12

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diff --git a/linden/indra/llcharacter/lljointsolverrp3.h b/linden/indra/llcharacter/lljointsolverrp3.h
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+/** 
+ * @file lljointsolverrp3.h
+ * @brief Implementation of LLJointSolverRP3 class
+ *
+ * Copyright (c) 2001-2007, Linden Research, Inc.
+ * 
+ * The source code in this file ("Source Code") is provided by Linden Lab
+ * to you under the terms of the GNU General Public License, version 2.0
+ * ("GPL"), unless you have obtained a separate licensing agreement
+ * ("Other License"), formally executed by you and Linden Lab.  Terms of
+ * the GPL can be found in doc/GPL-license.txt in this distribution, or
+ * online at http://secondlife.com/developers/opensource/gplv2
+ * 
+ * There are special exceptions to the terms and conditions of the GPL as
+ * it is applied to this Source Code. View the full text of the exception
+ * in the file doc/FLOSS-exception.txt in this software distribution, or
+ * online at http://secondlife.com/developers/opensource/flossexception
+ * 
+ * By copying, modifying or distributing this software, you acknowledge
+ * that you have read and understood your obligations described above,
+ * and agree to abide by those obligations.
+ * 
+ * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
+ * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
+ * COMPLETENESS OR PERFORMANCE.
+ */
+
+#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
+