IK_QJacobianSolver.h

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/*
 * $Id: IK_QJacobianSolver.h 35154 2011-02-25 11:43:19Z jesterking $
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * 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.
 *
 * The Original Code is: all of this file.
 *
 * Original Author: Laurence
 * Contributor(s): Brecht
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef NAN_INCLUDED_IK_QJacobianSolver_h

#define NAN_INCLUDED_IK_QJacobianSolver_h

#include <vector>
#include <list>

#include "MT_Vector3.h"
#include "MT_Transform.h"
#include "IK_QJacobian.h"
#include "IK_QSegment.h"
#include "IK_QTask.h"

class IK_QJacobianSolver
{
public:
        IK_QJacobianSolver();
        ~IK_QJacobianSolver() {};

        // setup pole vector constraint
        void SetPoleVectorConstraint(IK_QSegment *tip, MT_Vector3& goal,
                MT_Vector3& polegoal, float poleangle, bool getangle);
        float GetPoleAngle() { return m_poleangle; };

        // call setup once before solving, if it fails don't solve
        bool Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks);

        // returns true if converged, false if max number of iterations was used
        bool Solve(
                IK_QSegment *root,
                std::list<IK_QTask*> tasks,
                const MT_Scalar tolerance,
                const int max_iterations
        );

private:
        void AddSegmentList(IK_QSegment *seg);
        bool UpdateAngles(MT_Scalar& norm);
        void ConstrainPoleVector(IK_QSegment *root, std::list<IK_QTask*>& tasks);

        MT_Scalar ComputeScale();
        void Scale(float scale, std::list<IK_QTask*>& tasks);

private:

        IK_QJacobian m_jacobian;
        IK_QJacobian m_jacobian_sub;

        bool m_secondary_enabled;

        std::vector<IK_QSegment*> m_segments;

        MT_Transform m_rootmatrix;

        bool m_poleconstraint;
        bool m_getpoleangle;
        MT_Vector3 m_goal;
        MT_Vector3 m_polegoal;
        float m_poleangle;
        IK_QSegment *m_poletip;
};

#endif