IK_solver.h

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/*
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 * Original author: Laurence
 */
 
#ifndef __IK_SOLVER_H__
#define __IK_SOLVER_H__
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef void IK_Segment;
 
enum IK_SegmentFlag {
  IK_XDOF = 1,
  IK_YDOF = 2,
  IK_ZDOF = 4,
  IK_TRANS_XDOF = 8,
  IK_TRANS_YDOF = 16,
  IK_TRANS_ZDOF = 32
};
 
typedef enum IK_SegmentAxis {
  IK_X = 0,
  IK_Y = 1,
  IK_Z = 2,
  IK_TRANS_X = 3,
  IK_TRANS_Y = 4,
  IK_TRANS_Z = 5
} IK_SegmentAxis;
 
extern IK_Segment *IK_CreateSegment(int flag);
extern void IK_FreeSegment(IK_Segment *seg);
 
extern void IK_SetParent(IK_Segment *seg, IK_Segment *parent);
extern void IK_SetTransform(
    IK_Segment *seg, float start[3], float rest_basis[][3], float basis[][3], float length);
extern void IK_SetLimit(IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax);
extern void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness);
 
extern void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3]);
extern void IK_GetTranslationChange(IK_Segment *seg, float *translation_change);
 
typedef void IK_Solver;
 
IK_Solver *IK_CreateSolver(IK_Segment *root);
void IK_FreeSolver(IK_Solver *solver);
 
void IK_SolverAddGoal(IK_Solver *solver, IK_Segment *tip, float goal[3], float weight);
void IK_SolverAddGoalOrientation(IK_Solver *solver,
                                 IK_Segment *tip,
                                 float goal[][3],
                                 float weight);
void IK_SolverSetPoleVectorConstraint(IK_Solver *solver,
                                      IK_Segment *tip,
                                      float goal[3],
                                      float polegoal[3],
                                      float poleangle,
                                      int getangle);
float IK_SolverGetPoleAngle(IK_Solver *solver);
 
int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations);
 
#define IK_STRETCH_STIFF_EPS 0.01f
#define IK_STRETCH_STIFF_MIN 0.001f
#define IK_STRETCH_STIFF_MAX 1e10
 
#ifdef __cplusplus
}
#endif
 
#endif  // __IK_SOLVER_H__