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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 WM5IKJOINT_H
#define WM5IKJOINT_H
#include "Wm5GraphicsLIB.h"
#include "Wm5IKGoal.h"
namespace Wm5
{
class Spatial;
class WM5_GRAPHICS_ITEM IKJoint : public Object
{
WM5_DECLARE_RTTI;
WM5_DECLARE_NAMES;
WM5_DECLARE_STREAM(IKJoint);
public:
// Construction and destruction. IKJoint assumes responsibility for the
// input array of pointers to goals and will delete it. The array should
// therefore be dynamically allocated. The goals themselves are managed
// by the IKController and will be deleted by it.
IKJoint (Spatial* object, int numGoals, IKGoalPtr* goals);
virtual ~IKJoint ();
// Member access. Index i is for the joint's parent's world axis[i].
bool AllowTranslation[3]; // default = false
float MinTranslation[3]; // default = -infinity
float MaxTranslation[3]; // default = +infinity
bool AllowRotation[3]; // default = false
float MinRotation[3]; // default = -infinity
float MaxRotation[3]; // default = +infinity
protected:
// Support for the IK update.
friend class IKController;
// Joint update.
AVector GetAxis (int i);
void UpdateWorldSRT ();
void UpdateWorldRT ();
bool UpdateLocalT (int i);
bool UpdateLocalR (int i);
// The managed object.
Spatial* mObject;
// The goals that affect this joint.
int mNumGoals;
IKGoalPtr* mGoals;
};
WM5_REGISTER_STREAM(IKJoint);
typedef Pointer0<IKJoint> IKJointPtr;
}
#endif
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