ISplineIKGoal Class Reference

Search for all occurrences

#include <ikhierarchy.h>

Inheritance diagram for ISplineIKGoal:

---

Class Description

See also:

: Class IIKGoal

class ISplineIKGoal: public IIKGoal

This class is only available in release 5 or later. This is an interface to a specific type of IK goal, the spline IK goal. The interface id is given the constant kSplineIKGoalID.

Public Member Functions
BaseInterface *	GetInterface (Interface_ID id)
Interface_ID	GetID ()
virtual float	StartParam () const =0
virtual float	EndParam () const =0
virtual Point3	SplinePosAt (float, BOOL, BOOL=FALSE) const =0
virtual Point3	SplineTangentAt (float, BOOL) const =0
virtual const Matrix3 &	Goal () const =0
virtual INode *	GetGoalNode () const =0
virtual IIKChainControl *	GetChainControl ()=0
virtual float	GetSplineLength () const =0
virtual float	TwistHStartAngle () const =0
virtual float	TwistHEndAngle () const =0
virtual INode *	StartJoint () const =0
virtual INode *	EndJoint () const =0
virtual const ZeroPlaneMap *	DefaultZeroMap () const =0
virtual BOOL	IsClosed () const =0
virtual const Matrix3 &	TwistParent () const =0

---

Member Function Documentation

BaseInterface* GetInterface

(

Interface_ID

id

)

[inline, virtual]

Search for all occurrences

Remarks:

Returns a pointer of type BaseInterface for the interface IIKGoal

Parameters:

Interface_ID id

Input id = kGoalID(<b>0x53937e2, 0x2be92941)

Remarks:

Returns, Interface_ID kGoalID(0x53937e2, 0x2be92941)

Reimplemented from IIKGoal.

{ if (id == kSplineIKGoalID) return this; else return IIKGoal::GetInterface(id); }

Interface_ID GetID

(

)

[inline, virtual]

Search for all occurrences

Remarks:

Returns, Interface_ID kGoalID(0x53937e2, 0x2be92941)

Reimplemented from IIKGoal.

Reimplemented in ISplineIKGoal2.

{ return kSplineIKGoalID; }

virtual float StartParam

(

)

const [pure virtual]

Search for all occurrences

virtual float EndParam

(

)

const [pure virtual]

Search for all occurrences

virtual Point3 SplinePosAt	(	float	,
		BOOL	,
		BOOL	= FALSE
	)		const [pure virtual]

Search for all occurrences

Remarks:

Returns the position of a point on a spline or NURBS curve given its global u-value. The point can be computed in the local or the world space of the curve, represented by the second BOOL argument. The third BOOL argument determines if we should really recompute the curve or use the cached data.

virtual Point3 SplineTangentAt	(	float	,
		BOOL
	)		const [pure virtual]

Search for all occurrences

Remarks:

Similar to the above: returns the tangent at a point on a spline or NURBS curve given its global u-value. The point can be computed in the local or the world space of the curve, represented by the second BOOL argument.

virtual const Matrix3& Goal

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Obtained from IHIIKGoal. I don't think we are currently using it for the SPlineIK.

virtual INode* GetGoalNode

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Grabs the Goal node.

virtual IIKChainControl* GetChainControl

(

)

[pure virtual]

Search for all occurrences

Remarks:

Returns a pointer IIKChainControl.

virtual float GetSplineLength

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Compute the length of the spline which the IKchain conforms to.

virtual float TwistHStartAngle

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Get the angle of the Start Twist Manipulator

virtual float TwistHEndAngle

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Get the angle of the End Twist Manipulator

virtual INode* StartJoint

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Get the Start Joint node of the IK Chain

virtual INode* EndJoint

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Get the End Joint node of the IK Chain

virtual const ZeroPlaneMap* DefaultZeroMap

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Returns a ZeroPlaneMap.

virtual BOOL IsClosed

(

)

const [pure virtual]

Search for all occurrences

Remarks:

Returns TRUE/FALSE as to whether curve is open or closed.

virtual const Matrix3& TwistParent

(

)

const [pure virtual]

Search for all occurrences