IK_QTask.h

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/*
 * $Id: IK_QTask.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_QTask_h
#define NAN_INCLUDED_IK_QTask_h

#include "MT_Vector3.h"
#include "MT_Transform.h"
#include "MT_Matrix4x4.h"
#include "IK_QJacobian.h"
#include "IK_QSegment.h"

class IK_QTask
{
public:
        IK_QTask(
                int size,
                bool primary,
                bool active,
                const IK_QSegment *segment
        );
        virtual ~IK_QTask() {};

        int Id() const
        { return m_size; }

        void SetId(int id)
        { m_id = id; }

        int Size() const
        { return m_size; }

        bool Primary() const
        { return m_primary; }

        bool Active() const
        { return m_active; }

        MT_Scalar Weight() const
        { return m_weight*m_weight; }

        void SetWeight(MT_Scalar weight)
        { m_weight = sqrt(weight); }

        virtual void ComputeJacobian(IK_QJacobian& jacobian)=0;

        virtual MT_Scalar Distance() const=0;

        virtual bool PositionTask() const { return false; }

        virtual void Scale(float) {}

protected:
        int m_id;
        int m_size;
        bool m_primary;
        bool m_active;
        const IK_QSegment *m_segment;
        MT_Scalar m_weight;
};

class IK_QPositionTask : public IK_QTask
{
public:
        IK_QPositionTask(
                bool primary,
                const IK_QSegment *segment,
                const MT_Vector3& goal
        );

        void ComputeJacobian(IK_QJacobian& jacobian);

        MT_Scalar Distance() const;

        bool PositionTask() const { return true; }
        void Scale(float scale) { m_goal *= scale; m_clamp_length *= scale; }

private:
        MT_Vector3 m_goal;
        MT_Scalar m_clamp_length;
};

class IK_QOrientationTask : public IK_QTask
{
public:
        IK_QOrientationTask(
                bool primary,
                const IK_QSegment *segment,
                const MT_Matrix3x3& goal
        );

        MT_Scalar Distance() const { return m_distance; };
        void ComputeJacobian(IK_QJacobian& jacobian);

private:
        MT_Matrix3x3 m_goal;
        MT_Scalar m_distance;
};


class IK_QCenterOfMassTask : public IK_QTask
{
public:
        IK_QCenterOfMassTask(
                bool primary,
                const IK_QSegment *segment,
                const MT_Vector3& center
        );

        void ComputeJacobian(IK_QJacobian& jacobian);

        MT_Scalar Distance() const;

        void Scale(float scale) { m_goal_center *= scale; m_distance *= scale; }

private:
        MT_Scalar ComputeTotalMass(const IK_QSegment *segment);
        MT_Vector3 ComputeCenter(const IK_QSegment *segment);
        void JacobianSegment(IK_QJacobian& jacobian, MT_Vector3& center, const IK_QSegment *segment);

        MT_Vector3 m_goal_center;
        MT_Scalar m_total_mass_inv;
        MT_Scalar m_distance;
};

#endif