imesh/animnode/ik.h
Go to the documentation of this file.00001 /* 00002 Copyright (C) 2010 Christian Van Brussel, Institute of Information 00003 and Communication Technologies, Electronics and Applied Mathematics 00004 at Universite catholique de Louvain, Belgium 00005 http://www.uclouvain.be/en-icteam.html 00006 00007 This library is free software; you can redistribute it and/or 00008 modify it under the terms of the GNU Library General Public 00009 License as published by the Free Software Foundation; either 00010 version 2 of the License, or (at your option) any later version. 00011 00012 This library is distributed in the hope that it will be useful, 00013 but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00015 Library General Public License for more details. 00016 00017 You should have received a copy of the GNU Library General Public 00018 License along with this library; if not, write to the Free 00019 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00020 */ 00021 #ifndef __CS_IMESH_ANIMNODE_IK_H__ 00022 #define __CS_IMESH_ANIMNODE_IK_H__ 00023 00028 #include "csutil/scf_interface.h" 00029 #include "imesh/animnode/skeleton2anim.h" 00030 00031 struct iMovable; 00032 struct iCamera; 00033 class csOrthoTransform; 00034 00035 namespace CS { 00036 namespace Mesh { 00037 00038 struct iAnimatedMesh; 00039 00040 } // namespace Mesh 00041 } // namespace CS 00042 00046 namespace CS { 00047 namespace Animation { 00048 00049 struct iBodyChain; 00050 struct iBodySkeleton; 00051 struct iSkeletonRagdollNode; 00052 00054 typedef unsigned int EffectorID; 00055 00056 struct iSkeletonIKNodeFactory; 00057 00062 struct iSkeletonIKNodeManager 00063 : public virtual CS::Animation::iSkeletonAnimNodeManager<CS::Animation::iSkeletonIKNodeFactory> 00064 { 00065 SCF_ISKELETONANIMNODEMANAGER_INTERFACE (CS::Animation::iSkeletonIKNodeManager, 1, 0, 0); 00066 }; 00067 00081 struct iSkeletonIKNodeFactory : public virtual iSkeletonAnimNodeFactory 00082 { 00083 SCF_INTERFACE(CS::Animation::iSkeletonIKNodeFactory, 2, 0, 0); 00084 00088 virtual void SetBodySkeleton (CS::Animation::iBodySkeleton* skeleton) = 0; 00089 00093 virtual CS::Animation::iBodySkeleton* GetBodySkeleton () const = 0; 00094 00102 virtual void SetChildNode (CS::Animation::iSkeletonAnimNodeFactory* node) = 0; 00103 00107 virtual CS::Animation::iSkeletonAnimNodeFactory* GetChildNode () const = 0; 00108 00116 virtual CS::Animation::EffectorID AddEffector (CS::Animation::iBodyChain* chain, 00117 BoneID bone, 00118 csOrthoTransform& transform) = 0; 00119 00123 virtual void RemoveEffector (CS::Animation::EffectorID effector) = 0; 00124 00125 // TODO: listeners 00126 }; 00127 00138 struct iSkeletonIKNode : public virtual iSkeletonAnimNode 00139 { 00140 SCF_INTERFACE(CS::Animation::iSkeletonIKNode, 2, 0, 0); 00141 00147 virtual void AddConstraint (CS::Animation::EffectorID effector, 00148 csOrthoTransform& transform) = 0; 00149 00157 virtual void AddConstraint (CS::Animation::EffectorID effector, 00158 iMovable* target, const csOrthoTransform& offset) = 0; 00159 00167 virtual void AddConstraint (CS::Animation::EffectorID effector, 00168 iCamera* target, const csOrthoTransform& offset) = 0; 00169 00174 virtual void RemoveConstraint (CS::Animation::EffectorID effector) = 0; 00175 }; 00176 00193 struct iSkeletonIKPhysicalNodeFactory : public iSkeletonIKNodeFactory 00194 { 00195 SCF_INTERFACE(CS::Animation::iSkeletonIKPhysicalNodeFactory, 1, 0, 0); 00196 00205 virtual void SetChainAutoReset (bool reset) = 0; 00206 00214 virtual bool GetChainAutoReset () const = 0; 00215 }; 00216 00233 struct iSkeletonIKPhysicalNode : public iSkeletonIKNode 00234 { 00235 SCF_INTERFACE(CS::Animation::iSkeletonIKPhysicalNode, 1, 0, 0); 00236 00241 virtual void SetRagdollNode (CS::Animation::iSkeletonRagdollNode* ragdollNode) = 0; 00242 00246 virtual CS::Animation::iSkeletonRagdollNode* GetRagdollNode () const = 0; 00247 }; 00248 00268 struct iSkeletonIKCCDNodeFactory : public iSkeletonIKNodeFactory 00269 { 00270 SCF_INTERFACE(CS::Animation::iSkeletonIKCCDNodeFactory, 1, 0, 0); 00271 00276 virtual void SetMaximumIterations (size_t max) = 0; 00277 00281 virtual size_t GetMaximumIterations () = 0; 00282 00287 virtual void SetTargetDistance (float distance) = 0; 00288 00293 virtual float GetTargetDistance () = 0; 00294 00300 virtual void SetMotionRatio (float ratio) = 0; 00301 00306 virtual float GetMotionRatio () = 0; 00307 00313 virtual void SetJointInitialization (bool initialized) = 0; 00314 00320 virtual bool GetJointInitialization () = 0; 00321 00327 virtual void SetUpwardIterations (bool upward) = 0; 00328 00334 virtual bool GetUpwardIterations () = 0; 00335 }; 00336 00356 struct iSkeletonIKCCDNode : public iSkeletonIKNode 00357 { 00358 SCF_INTERFACE(CS::Animation::iSkeletonIKCCDNode, 1, 0, 0); 00359 00360 }; 00361 00362 } // namespace Animation 00363 } // namespace CS 00364 00367 #endif //__CS_IMESH_ANIMNODE_IK_H__
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