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SOP/SOP_IKSample.h
/*
* Copyright (c) 2018
* Side Effects Software Inc. All rights reserved.
*
* Redistribution and use of Houdini Development Kit samples in source and
* binary forms, with or without modification, are permitted provided that the
* following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. The name of Side Effects Software may not be used to endorse or
* promote products derived from this software without specific prior
* written permission.
*
* THIS SOFTWARE IS PROVIDED BY SIDE EFFECTS SOFTWARE `AS IS' AND ANY EXPRESS
* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN
* NO EVENT SHALL SIDE EFFECTS SOFTWARE BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*----------------------------------------------------------------------------
*
* The IKSample SOP
*
* Demonstrates example use of the Inverse Kinematics (IK) Solver found in the
* KIN library.
*
*/
#ifndef __SOP_IKSAMPLE_H_INCLUDED__
#define __SOP_IKSAMPLE_H_INCLUDED__
#include <SOP/SOP_Node.h>
#include <KIN/KIN_Chain.h>
#include <SYS/SYS_Types.h>
namespace HDK_Sample
{
class SOP_IKSample : public SOP_Node
{
public:
OP_Network *net,
const char *name,
virtual ~SOP_IKSample();
static OP_Node *myConstructor(OP_Network*, const char*, OP_Operator*);
protected:
/// Method to provide input labels
virtual const char *inputLabel(unsigned input_index) const;
/// Method to cook geometry for the SOP
virtual OP_ERROR cookMySop(OP_Context &context);
private:
bool evaluateSolverParms(
OP_Context &context,
KIN_InverseParm &parms);
bool setupRestChain();
void GOAL(fpreal t, UT_Vector3R &goal) const
{ evalFloats("goal", goal.data(), t); }
fpreal TWIST(fpreal t) const
{ return evalFloat("twist", 0, t); }
fpreal DAMPEN(fpreal t) const
{ return evalFloat("dampen", 0, t); }
int STRAIGHTEN(fpreal t) const
{ return evalInt("straighten", 0, t); }
fpreal THRESHOLD(fpreal t) const
{ return evalFloat("threshold", 0, t); }
private:
KIN_Chain myRestChain;
};
} // End HDK_Sample namespace
#endif // __SOP_IKSAMPLE_H_INCLUDED__