intern/iksolver/extern/IK_solver.h

   1 /**
   2  * $Id: IK_solver.h 5229 2005-08-31 22:09:44Z blendix $
   3  * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
   4  *
   5  * This program is free software; you can redistribute it and/or
   6  * modify it under the terms of the GNU General Public License
   7  * as published by the Free Software Foundation; either version 2
   8  * of the License, or (at your option) any later version. The Blender
   9  * Foundation also sells licenses for use in proprietary software under
  10  * the Blender License.  See http://www.blender.org/BL/ for information
  11  * about this.
  12  *
  13  * This program is distributed in the hope that it will be useful,
  14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16  * GNU General Public License for more details.
  17  *
  18  * You should have received a copy of the GNU General Public License
  19  * along with this program; if not, write to the Free Software Foundation,
  20  * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  21  *
  22  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
  23  * All rights reserved.
  24  *
  25  * The Original Code is: all of this file.
  26  *
  27  * Original author: Laurence
  28  * Contributor(s): Brecht
  29  *
  30  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  31  */
  32
  33 /**
  34
  35  * $Id: IK_solver.h 5229 2005-08-31 22:09:44Z blendix $
  36  * Copyright (C) 2001 NaN Technologies B.V.
  37  *
  38  * @author Laurence, Brecht
  39  * @mainpage IK - Blender inverse kinematics module.
  40  *
  41  * @section about About the IK module
  42  *
  43  * This module allows you to create segments and form them into
  44  * tree. You can then define a goal points that the end of a given
  45  * segment should attempt to reach - an inverse kinematic problem.
  46  * This module will then modify the segments in the tree in order
  47  * to get the as near as possible to the goal. This solver uses an
  48  * inverse jacobian method to find a solution.
  49  *
  50  * @section issues Known issues with this IK solver.
  51  *
  52  * - There is currently no support for joint constraints in the
  53  * solver. This is within the realms of possibility - please ask
  54  * if this functionality is required.
  55  * - The solver is slow, inverse jacobian methods in general give
  56  * 'smooth' solutions and the method is also very flexible, it
  57  * does not rely on specific angle parameterization and can be
  58  * extended to deal with different joint types and joint
  59  * constraints. However it is not suitable for real time use.
  60  * Other algorithms exist which are more suitable for real-time
  61  * applications, please ask if this functionality is required.
  62  *
  63  * @section dependencies Dependencies
  64  *
  65  * This module only depends on Moto.
  66  */
  67
  68 #ifndef NAN_INCLUDED_IK_solver_h
  69 #define NAN_INCLUDED_IK_solver_h
  70
  71 #ifdef __cplusplus
  72 extern "C" {
  73 #endif
  74
  75 /**
  76  * Typical order of calls for solving an IK problem:
  77  *
  78  * - create number of IK_Segment's and set their parents and transforms
  79  * - create an IK_Solver
  80  * - set a number of goals for the IK_Solver to solve
  81  * - call IK_Solve
  82  * - free the IK_Solver
  83  * - get basis and translation changes from segments
  84  * - free all segments
  85  */
  86
  87 /**
  88  * IK_Segment defines a single segment of an IK tree.
  89  * - Individual segments are always defined in local coordinates.
  90  * - The segment is assumed to be oriented in the local
  91  *   y-direction.
  92  * - start is the start of the segment relative to the end
  93  *   of the parent segment.
  94  * - rest_basis is a column major matrix defineding the rest
  95  *   position (w.r.t. which the limits are defined), must
  96  *   be a pure rotation
  97  * - basis is a column major matrix defining the current change
  98  *   from the rest basis, must be a pure rotation
  99  * - length is the length of the bone.
 100  *
 101  * - basis_change and translation_change respectively define
 102  *   the change in rotation or translation. basis_change is a
 103  *   column major 3x3 matrix.
 104  *
 105  * The local transformation is then defined as:
 106  * start * rest_basis * basis * basis_change * translation_change * translate(0,length,0)
 107  *
 108  */
 109
 110 typedef void IK_Segment;
 111
 112 enum IK_SegmentFlag {
 113         IK_XDOF = 1,
 114         IK_YDOF = 2,
 115         IK_ZDOF = 4,
 116         IK_TRANS_XDOF = 8,
 117         IK_TRANS_YDOF = 16,
 118         IK_TRANS_ZDOF = 32
 119 };
 120
 121 typedef enum IK_SegmentAxis {
 122         IK_X = 0,
 123         IK_Y = 1,
 124         IK_Z = 2,
 125         IK_TRANS_X = 3,
 126         IK_TRANS_Y = 4,
 127         IK_TRANS_Z = 5
 128 } IK_SegmentAxis;
 129
 130 extern IK_Segment *IK_CreateSegment(int flag);
 131 extern void IK_FreeSegment(IK_Segment *seg);
 132
 133 extern void IK_SetParent(IK_Segment *seg, IK_Segment *parent);
 134 extern void IK_SetTransform(IK_Segment *seg, float start[3], float rest_basis[][3], float basis[][3], float length);
 135 extern void IK_SetLimit(IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax);
 136 extern void IK_SetStiffness(IK_Segment *seg, IK_SegmentAxis axis, float stiffness);
 137
 138 extern void IK_GetBasisChange(IK_Segment *seg, float basis_change[][3]);
 139 extern void IK_GetTranslationChange(IK_Segment *seg, float *translation_change);
 140
 141 /**
 142  * An IK_Solver must be created to be able to execute the solver.
 143  *
 144  * An arbitray number of goals can be created, stating that a given
 145  * end effector must have a given position or rotation. If multiple
 146  * goals are specified, they can be weighted (range 0..1) to get
 147  * some control over their importance.
 148  *
 149  * IK_Solve will execute the solver, that will run until either the
 150  * system converges, or a maximum number of iterations is reached.
 151  * It returns 1 if the system converged, 0 otherwise.
 152  */
 153
 154 typedef void IK_Solver;
 155
 156 IK_Solver *IK_CreateSolver(IK_Segment *root);
 157 void IK_FreeSolver(IK_Solver *solver);
 158
 159 void IK_SolverAddGoal(IK_Solver *solver, IK_Segment *tip, float goal[3], float weight);
 160 void IK_SolverAddGoalOrientation(IK_Solver *solver, IK_Segment *tip, float goal[][3], float weight);
 161
 162 int IK_Solve(IK_Solver *solver, float tolerance, int max_iterations);
 163
 164
 165 #ifdef __cplusplus
 166 }
 167 #endif
 168
 169 #endif // NAN_INCLUDED_IK_solver_h
 170