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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#ifndef WM5IKCONTROLLER_H
#define WM5IKCONTROLLER_H
#include "Wm5GraphicsLIB.h"
#include "Wm5Controller.h"
#include "Wm5IKGoal.h"
#include "Wm5IKJoint.h"
namespace Wm5
{
class WM5_GRAPHICS_ITEM IKController : public Controller
{
WM5_DECLARE_RTTI;
WM5_DECLARE_NAMES;
WM5_DECLARE_STREAM(IKController);
public:
// Construction and destruction. IKController assumes responsibility for
// the input arrays and will delete them. They should be dynamically
// allocated.
IKController (int numJoints, IKJointPtr* joints, int numGoals,
IKGoalPtr* goals);
virtual ~IKController ();
// Member access.
int Iterations; // default = 128
bool OrderEndToRoot; // default = true
// The animation update. The application time is in milliseconds.
virtual bool Update (double applicationTime);
protected:
int mNumJoints;
IKJointPtr* mJoints;
int mNumGoals;
IKGoalPtr* mGoals;
};
WM5_REGISTER_STREAM(IKController);
typedef Pointer0<IKController> IKControllerPtr;
}
#endif
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