Public Member Functions | Static Public Member Functions | Protected Member Functions

MPxIkSolverNode Class Reference

This reference page is linked to from the following overview topics: Parent class descriptions, MPxNode and its derived classes.


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Detailed Description

Base class for user defined IK solvers.

This is the base class for writing user-defined IK solvers. Users must at least override the following methods in order to write a solver:

Note that the following virtual methods (declared in MPxNode) are irrelevant for the MPxIkSolverNode. If these methods are overridden in a class derived from MPxIkSolverNode, they will be ignored.

A creator method is necessary to return an instance of the user solver:

    userSolver::creator() {
        return new userSolver;
    }

In order to create and register the solver, execute the mel command:

    createNode userSolver;

Once the solver is registered it can be assigned to IK handles and its solve methods will be called in the same manner as the solvers within Maya.

Examples:

simpleSolverNode.cpp.

#include <MPxIkSolverNode.h>

Inheritance diagram for MPxIkSolverNode:
Inheritance graph
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List of all members.

Public Member Functions

virtual ~MPxIkSolverNode ()
 Destructor.
virtual MPxNode::Type type () const
 This method returns the type of the node.
virtual MStatus preSolve ()
 This method is called before doSolve.
virtual MStatus doSolve ()
 This is where the main solving takes place.
virtual MStatus postSolve (MStatus)
 This method is called after doSolve has finished.
virtual MString solverTypeName () const
 This method returns the type name of the solver.
bool rotatePlane (MStatus *ReturnStatus=NULL) const
 This method indicates whether this solver supports the rotate plane.
MStatus setRotatePlane (bool rotatePlane)
 This method sets whether or not this solver supports the rotate plane.
bool singleChainOnly (MStatus *ReturnStatus=NULL) const
 This method indicates whether this solver is a single chain solver.
MStatus setSingleChainOnly (bool singleChainOnly)
 This method sets whether or not this solver is a single chain solver.
bool positionOnly (MStatus *ReturnStatus=NULL) const
 Indicates whether the ik solution is dependent on the ikHandle position only or also uses the orientation.
MStatus setPositionOnly (bool positionOnly)
 Sets whether or not the solver supports handle orientation.
bool supportJointLimits (MStatus *ReturnStatus=NULL) const
 This method indicates whether the solver supports limits on joint angles.
MStatus setSupportJointLimits (bool supportJointLimits)
 This method sets whether or not the solver supports limits on joint angles.
bool uniqueSolution (MStatus *ReturnStatus=NULL) const
 This method indicates whether the solver provides a unique solution.
MStatus setUniqueSolution (bool uniqueSolution)
 This method sets whether or not the solver provides a unique solution.
virtual bool isSingleChainOnly () const
 This method is obsolete.
virtual bool isPositionOnly () const
 This method is obsolete.
virtual bool hasJointLimitSupport () const
 This method is obsolete.
virtual bool hasUniqueSolution () const
 This method is obsolete.
virtual bool groupHandlesByTopology () const
 This method is obsolete.
virtual MStatus setFuncValueTolerance (double tolerance)
 Set the error value for this solver.
virtual MStatus setMaxIterations (int value)
 Set the maximum iterations for a solution by this solver.
MIkHandleGrouphandleGroup () const
 Returns the handle group for this solver.
virtual void setHandleGroup (MIkHandleGroup *)
 Set the handle group of this solver.
const MMatrixtoWorldSpace () const
 Returns the world space matrix for this solver.
const MMatrixtoSolverSpace () const
 Returns the local space matrix for this solver.
double funcValueTolerance () const
 Return the error value for this solver.
int maxIterations () const
 Return the the maximum nuber of itertations for a solution by this solver.
virtual void snapHandle (MObject &handle)
 This function positions the handle at the end effector position.

Static Public Member Functions

static const char * className ()
 Returns the name of this class.

Protected Member Functions

MStatus getJointAngles (MDoubleArray &) const
 This method is not available in Python.
MStatus setJointAngles (const MDoubleArray &)
 This method is not available in Python.
void setToRestAngles ()
 This method is not available in Python.
 MPxIkSolverNode ()
 Constructor.

Member Function Documentation

MPxNode::Type type ( ) const [virtual]

This method returns the type of the node.

This method should not be overridden by the user. It will return MPxNode::kIkSolverNode.

Returns:
The type of node
Status Codes:

Reimplemented from MPxNode.

MStatus preSolve ( ) [virtual]

This method is called before doSolve.

Users should override this method if there is any preprocessing that needs to be done before solving..

Returns:
The status code which indicates if the pre-processing was successful
MStatus doSolve ( ) [virtual]

This is where the main solving takes place.

The user must override this method.

The purpose of this method is to calculate joint angles in a skeleton based upon the position of the end effector of the handle associated with this solver.

Returns:
The status code which indicates if the solver was successful
Examples:
simpleSolverNode.cpp.
MStatus postSolve ( MStatus  stat) [virtual]

This method is called after doSolve has finished.

The user should override this method if there are any post calculations to be done.

The status argument indicates whether doSolve was successful.

Parameters:
[out]statThe status returned from doSolve
Returns:
Status code to indicate whether the post calculations were successful
MString solverTypeName ( ) const [virtual]

This method returns the type name of the solver.

The user must override this method in order for the solver to be identifiable when it is registered.

Once the solver is registered, the type name can be used to assign the solver to an IK handle.

Returns:
The type name of this solver
Examples:
simpleSolverNode.cpp.
bool rotatePlane ( MStatus ReturnStatus = NULL) const

This method indicates whether this solver supports the rotate plane.

Solvers that support the rotate plane allow the user to manipulate the IK handle's pole vector with the rotate plane manipulators.

Parameters:
[in]ReturnStatusStatus code.
Returns:
Boolean value: true if the solver supports the rotate plane, false otherwise.
Status Codes:
MStatus setRotatePlane ( bool  rotatePlane)

This method sets whether or not this solver supports the rotate plane.

Solvers that support the rotate plane allow the user to manipulate the IK handle's pole vector with the rotate plane manipulators.

Parameters:
[in]rotatePlanewhether or not the solver supports the rotate plane
Returns:
Status code
Status Codes:
bool singleChainOnly ( MStatus ReturnStatus = NULL) const

This method indicates whether this solver is a single chain solver.

Single chain solvers are solvers which act on one handle only, i.e. the handle groups have only one handle if they are for single chain solvers.

Parameters:
[in]ReturnStatusStatus code.
Returns:
Boolean value: true if the solver is a single chain solver, false otherwise.
Status Codes:
MStatus setSingleChainOnly ( bool  singleChainOnly)

This method sets whether or not this solver is a single chain solver.

Single chain solvers are solvers which act on one handle only, i.e. the handle groups have only one handle if they are for single chain solvers.

Parameters:
[in]singleChainOnlywhether or not the solver is a single chain solver
Returns:
Status code
Status Codes:
bool positionOnly ( MStatus ReturnStatus = NULL) const

Indicates whether the ik solution is dependent on the ikHandle position only or also uses the orientation.

Parameters:
[in]ReturnStatusStatus code.
Returns:
Boolean value: true if the solver does not support handle orientation, false otherwise
Status Codes:
MStatus setPositionOnly ( bool  positionOnly)

Sets whether or not the solver supports handle orientation.

Parameters:
[in]positionOnlywhether or not the solver is positionOnly
Returns:
Status code
Status Codes:
bool supportJointLimits ( MStatus ReturnStatus = NULL) const

This method indicates whether the solver supports limits on joint angles.

Parameters:
[in]ReturnStatusStatus code.
Returns:
Boolean value. true if the solver supports limits on joint angles, false otherwise.
Status Codes:
MStatus setSupportJointLimits ( bool  supportJointLimits)

This method sets whether or not the solver supports limits on joint angles.

Parameters:
[in]supportJointLimitswhether or not the solver supports joint limits
Returns:
Status code
Status Codes:
bool uniqueSolution ( MStatus ReturnStatus = NULL) const

This method indicates whether the solver provides a unique solution.

Parameters:
[in]ReturnStatusStatus code.
Returns:
Boolean value: true if the solver provides a unique solution, false otherwise.
Status Codes:
MStatus setUniqueSolution ( bool  uniqueSolution)

This method sets whether or not the solver provides a unique solution.

Parameters:
[in]uniqueSolutionwhether or not the solver provides a unique solution
Returns:
Status code
Status Codes:
bool isSingleChainOnly ( ) const [virtual]

This method is obsolete.

Deprecated:

This method indicates whether this solver is a single chain solver. Single chain solvers are solvers which act on one handle only, i.e. the handle groups have only one handle if they are for single chain solvers.

Returns:
Boolean value true if this is a single chain solver, false otherwise.
bool isPositionOnly ( ) const [virtual]

This method is obsolete.

Deprecated:

Indicates whether the solver supports handle orientation. This method must be overriden to reflect the users solver.

Returns:
Boolean value true if solver does not support handle orientation, false otherwise.
bool hasJointLimitSupport ( ) const [virtual]

This method is obsolete.

Deprecated:

This method indicates whether the solver supports limits on joint angles. This method must be overriden to reflect the users solver.

Returns:
Boolean value true if solver supports joint limits, false otherwise.
bool hasUniqueSolution ( ) const [virtual]

This method is obsolete.

Deprecated:

This method indicates whether the solver provides a unique solution. This method must be overriden to reflect the users solver.

Returns:
Boolean value true if solver has a unique solution, false otherwise.
bool groupHandlesByTopology ( ) const [virtual]

This method is obsolete.

Deprecated:

Indicates whether the IK system should group handles according to skeletal topology. This method must be overriden to reflect the users solver.

Returns:
Boolean value true if solver hgroups handles by topology, false otherwise.
MStatus setFuncValueTolerance ( double  tolerance) [virtual]

Set the error value for this solver.

The user can override this if any other calcluations should be done here.

Parameters:
[in]toleranceError value
Returns:
Status code
MStatus setMaxIterations ( int  value) [virtual]

Set the maximum iterations for a solution by this solver.

The user can override this if any other calcluations should be done here.

Parameters:
[in]valuevalue to set
Returns:
Status code
MIkHandleGroup * handleGroup ( ) const

Returns the handle group for this solver.

The handle group provides access to handles associated with the solver.

Returns:
A pointer to the IK handle group for this solver
void setHandleGroup ( MIkHandleGroup group) [virtual]

Set the handle group of this solver.

Parameters:
[in]groupThe handle group to be set
const MMatrix * toWorldSpace ( ) const

Returns the world space matrix for this solver.

Returns:
The world space matrix
const MMatrix * toSolverSpace ( ) const

Returns the local space matrix for this solver.

Returns:
The local space matrix
double funcValueTolerance ( ) const

Return the error value for this solver.

Returns:
The error value
int maxIterations ( ) const

Return the the maximum nuber of itertations for a solution by this solver.

Returns:
The maximum number of iterations
void snapHandle ( MObject handle) [virtual]

This function positions the handle at the end effector position.

The user can override this method.

Parameters:
[in]handlehandle to be set
const char * className ( ) [static]

Returns the name of this class.

Returns:
The name of this class.

Reimplemented from MPxNode.

MStatus getJointAngles ( MDoubleArray angles) const [protected]

This method is not available in Python.

Returns the joint angles. Use MPxIkSolverNode::_getJointAngles in scripts.

Parameters:
[out]anglesThe array of doubles to hold the angles.
Returns:
Status code
Status Codes:
MStatus setJointAngles ( const MDoubleArray angles) [protected]

This method is not available in Python.

Set joint angles to the given values. Use MPxIkSolverNode::_setJointAngles in scripts.

Parameters:
[in]anglesThe array of angles to set the joints to.
Returns:
Status code
Status Codes:
  • MS::kSucces the joint angles were set
  • MS::kFailure the joint angles were not set
void setToRestAngles ( ) [protected]

This method is not available in Python.

Sets all joints to thier prefered orientations. Use MPxIkSolverNode::_setToRestAngles in scripts.


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