True Axis Physics SDK 1.2.0.1 Beta Documentation
www.trueaxis.com

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IKSolver.h

//---------------------------------------------------------------------------------
// File Name: IKSolver.h
// Description:
//
// Copyright (C) 2004 - 2006 True Axis Pty Ltd, Australia. 
// All Rights Reserved.
//
// History:
//      Luke Ryan:          Created
//---------------------------------------------------------------------------------

#ifndef TA_IKSOLVER_H
#define TA_IKSOLVER_H

#ifndef TA_MATRIX_H
#include "Matrix.h"
#endif // TA_MATRIX_H

namespace TA
{

class TACOMMON_CLASS IKSolve2BoneSystem
{
public:
    IKSolve2BoneSystem(
        const Vec3& v3A,            // Start 
        const Vec3& v3B,            // Middle
        const Vec3& v3C,            // End
        const Vec3& v3Target,       // Where to try and put the end position.
        const Vec3& v3JointAim);    // Where to aim the elbow.

    //---------------------------------------------------------------------------------
    // Get the Amount to rotate the bone 1.
    //---------------------------------------------------------------------------------
    const Mat33& GetAmountToRotateBone1() { return m_m33Bone1Rotation; }

    //---------------------------------------------------------------------------------
    // Get the Amount to rotate the bone 2. Assumes bone 2 is a child of bone1.
    //---------------------------------------------------------------------------------
    const Mat33& GetAmountToRotateBone2() { return m_m33Bone2Rotation; }

private:
    Vec3 m_v3NewB;
    Vec3 m_v3NewC;
    Mat33 m_m33Bone1Rotation;
    Mat33 m_m33Bone2Rotation; 
};

};

#endif // TA_IKSOLVER_H

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© Copyright 2004-2006 TRUE AXIS PTY LTD Australia. All rights reserved.