IK_QSegment.h

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/*
 * ***** 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_QSegment_h
#define NAN_INCLUDED_IK_QSegment_h

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

#include <vector>

class IK_QSegment
{
public:
    virtual ~IK_QSegment();

    // start: a user defined translation
    // rest_basis: a user defined rotation
    // basis: a user defined rotation
    // length: length of this segment

    void SetTransform(
        const MT_Vector3& start,
        const MT_Matrix3x3& rest_basis,
        const MT_Matrix3x3& basis,
        const MT_Scalar length
    );

    // tree structure access
    void SetParent(IK_QSegment *parent);

    IK_QSegment *Child() const
    { return m_child; }

    IK_QSegment *Sibling() const
    { return m_sibling; }

    IK_QSegment *Parent() const
    { return m_parent; }

    // for combining two joints into one from the interface
    void SetComposite(IK_QSegment *seg);
    
    IK_QSegment *Composite() const
    { return m_composite; }

    // number of degrees of freedom
    int NumberOfDoF() const
    { return m_num_DoF; }

    // unique id for this segment, for identification in the jacobian
    int DoFId() const
    { return m_DoF_id; }

    void SetDoFId(int dof_id)
    { m_DoF_id = dof_id; }

    // the max distance of the end of this bone from the local origin.
    const MT_Scalar MaxExtension() const
    { return m_max_extension; }

    // the change in rotation and translation w.r.t. the rest pose
    MT_Matrix3x3 BasisChange() const;
    MT_Vector3 TranslationChange() const;

    // the start and end of the segment
    const MT_Point3 &GlobalStart() const
    { return m_global_start; }

    const MT_Point3 &GlobalEnd() const
    { return m_global_transform.getOrigin(); }

    // the global transformation at the end of the segment
    const MT_Transform &GlobalTransform() const
    { return m_global_transform; }

    // is a translational segment?
    bool Translational() const
    { return m_translational; }

    // locking (during inner clamping loop)
    bool Locked(int dof) const
    { return m_locked[dof]; }

    void UnLock()
    { m_locked[0] = m_locked[1] = m_locked[2] = false; }

    // per dof joint weighting
    MT_Scalar Weight(int dof) const
    { return m_weight[dof]; }

    void ScaleWeight(int dof, MT_Scalar scale)
    { m_weight[dof] *= scale; }

    // recursively update the global coordinates of this segment, 'global'
    // is the global transformation from the parent segment
    void UpdateTransform(const MT_Transform &global);

    // get axis from rotation matrix for derivative computation
    virtual MT_Vector3 Axis(int dof) const=0;

    // update the angles using the dTheta's computed using the jacobian matrix
    virtual bool UpdateAngle(const IK_QJacobian&, MT_Vector3&, bool*)=0;
    virtual void Lock(int, IK_QJacobian&, MT_Vector3&) {}
    virtual void UpdateAngleApply()=0;

    // set joint limits
    virtual void SetLimit(int, MT_Scalar, MT_Scalar) {};

    // set joint weights (per axis)
    virtual void SetWeight(int, MT_Scalar) {};

    virtual void SetBasis(const MT_Matrix3x3& basis) { m_basis = basis; }

    // functions needed for pole vector constraint
    void PrependBasis(const MT_Matrix3x3& mat);
    void Reset();

    // scale
    virtual void Scale(float scale);

protected:

    // num_DoF: number of degrees of freedom
    IK_QSegment(int num_DoF, bool translational);

    // remove child as a child of this segment
    void RemoveChild(IK_QSegment *child);

    // tree structure variables
    IK_QSegment *m_parent;
    IK_QSegment *m_child;
    IK_QSegment *m_sibling;
    IK_QSegment *m_composite;

    // full transform = 
    // start * rest_basis * basis * translation
    MT_Vector3 m_start;
    MT_Matrix3x3 m_rest_basis;
    MT_Matrix3x3 m_basis;
    MT_Vector3 m_translation;

    // original basis
    MT_Matrix3x3 m_orig_basis;
    MT_Vector3 m_orig_translation;

    // maximum extension of this segment
    MT_Scalar m_max_extension;

    // accumulated transformations starting from root
    MT_Point3 m_global_start;
    MT_Transform m_global_transform;

    // number degrees of freedom, (first) id of this segments DOF's
    int m_num_DoF, m_DoF_id;

    bool m_locked[3];
    bool m_translational;
    MT_Scalar m_weight[3];
};

class IK_QSphericalSegment : public IK_QSegment
{
public:
    IK_QSphericalSegment();

    MT_Vector3 Axis(int dof) const;

    bool UpdateAngle(const IK_QJacobian &jacobian, MT_Vector3& delta, bool *clamp);
    void Lock(int dof, IK_QJacobian& jacobian, MT_Vector3& delta);
    void UpdateAngleApply();

    bool ComputeClampRotation(MT_Vector3& clamp);

    void SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax);
    void SetWeight(int axis, MT_Scalar weight);

private:
    MT_Matrix3x3 m_new_basis;
    bool m_limit_x, m_limit_y, m_limit_z;
    MT_Scalar m_min[2], m_max[2];
    MT_Scalar m_min_y, m_max_y, m_max_x, m_max_z, m_offset_x, m_offset_z;
    MT_Scalar m_locked_ax, m_locked_ay, m_locked_az;
};

class IK_QNullSegment : public IK_QSegment
{
public:
    IK_QNullSegment();

    bool UpdateAngle(const IK_QJacobian&, MT_Vector3&, bool*) { return false; }
    void UpdateAngleApply() {}

    MT_Vector3 Axis(int) const { return MT_Vector3(0, 0, 0); }
    void SetBasis(const MT_Matrix3x3&) { m_basis.setIdentity(); }
};

class IK_QRevoluteSegment : public IK_QSegment
{
public:
    // axis: the axis of the DoF, in range 0..2
    IK_QRevoluteSegment(int axis);

    MT_Vector3 Axis(int dof) const;

    bool UpdateAngle(const IK_QJacobian &jacobian, MT_Vector3& delta, bool *clamp);
    void Lock(int dof, IK_QJacobian& jacobian, MT_Vector3& delta);
    void UpdateAngleApply();

    void SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax);
    void SetWeight(int axis, MT_Scalar weight);
    void SetBasis(const MT_Matrix3x3& basis);

private:
    int m_axis;
    MT_Scalar m_angle, m_new_angle;
    bool m_limit;
    MT_Scalar m_min, m_max;
};

class IK_QSwingSegment : public IK_QSegment
{
public:
    // XZ DOF, uses one direct rotation
    IK_QSwingSegment();

    MT_Vector3 Axis(int dof) const;

    bool UpdateAngle(const IK_QJacobian &jacobian, MT_Vector3& delta, bool *clamp);
    void Lock(int dof, IK_QJacobian& jacobian, MT_Vector3& delta);
    void UpdateAngleApply();

    void SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax);
    void SetWeight(int axis, MT_Scalar weight);
    void SetBasis(const MT_Matrix3x3& basis);

private:
    MT_Matrix3x3 m_new_basis;
    bool m_limit_x, m_limit_z;
    MT_Scalar m_min[2], m_max[2];
    MT_Scalar m_max_x, m_max_z, m_offset_x, m_offset_z;
};

class IK_QElbowSegment : public IK_QSegment
{
public:
    // XY or ZY DOF, uses two sequential rotations: first rotate around
    // X or Z, then rotate around Y (twist)
    IK_QElbowSegment(int axis);

    MT_Vector3 Axis(int dof) const;

    bool UpdateAngle(const IK_QJacobian &jacobian, MT_Vector3& delta, bool *clamp);
    void Lock(int dof, IK_QJacobian& jacobian, MT_Vector3& delta);
    void UpdateAngleApply();

    void SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax);
    void SetWeight(int axis, MT_Scalar weight);
    void SetBasis(const MT_Matrix3x3& basis);

private:
    int m_axis;

    MT_Scalar m_twist, m_angle, m_new_twist, m_new_angle;
    MT_Scalar m_cos_twist, m_sin_twist;

    bool m_limit, m_limit_twist;
    MT_Scalar m_min, m_max, m_min_twist, m_max_twist;
};

class IK_QTranslateSegment : public IK_QSegment
{
public:
    // 1DOF, 2DOF or 3DOF translational segments
    IK_QTranslateSegment(int axis1);
    IK_QTranslateSegment(int axis1, int axis2);
    IK_QTranslateSegment();

    MT_Vector3 Axis(int dof) const;

    bool UpdateAngle(const IK_QJacobian &jacobian, MT_Vector3& delta, bool *clamp);
    void Lock(int, IK_QJacobian&, MT_Vector3&);
    void UpdateAngleApply();

    void SetWeight(int axis, MT_Scalar weight);
    void SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax);

    void Scale(float scale);

private:
    int m_axis[3];
    bool m_axis_enabled[3], m_limit[3];
    MT_Vector3 m_new_translation;
    MT_Scalar m_min[3], m_max[3];
};

#endif