1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
|
/**
* @file lljointsolverrp3.h
* @brief Implementation of LLJointSolverRP3 class
*
* $LicenseInfo:firstyear=2001&license=viewergpl$
*
* Copyright (c) 2001-2008, Linden Research, Inc.
*
* Second Life Viewer Source Code
* 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://secondlifegrid.net/programs/open_source/licensing/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://secondlifegrid.net/programs/open_source/licensing/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.
* $/LicenseInfo$
*/
#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
|
