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SOP_IKSample.h
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1 /*
2  * Copyright (c) 2018
3  * Side Effects Software Inc. All rights reserved.
4  *
5  * Redistribution and use of Houdini Development Kit samples in source and
6  * binary forms, with or without modification, are permitted provided that the
7  * following conditions are met:
8  * 1. Redistributions of source code must retain the above copyright notice,
9  * this list of conditions and the following disclaimer.
10  * 2. The name of Side Effects Software may not be used to endorse or
11  * promote products derived from this software without specific prior
12  * written permission.
13  *
14  * THIS SOFTWARE IS PROVIDED BY SIDE EFFECTS SOFTWARE `AS IS' AND ANY EXPRESS
15  * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
16  * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN
17  * NO EVENT SHALL SIDE EFFECTS SOFTWARE BE LIABLE FOR ANY DIRECT, INDIRECT,
18  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
19  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
20  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
21  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
22  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
23  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24  *
25  *----------------------------------------------------------------------------
26  *
27  * The IKSample SOP
28  *
29  * Demonstrates example use of the Inverse Kinematics (IK) Solver found in the
30  * KIN library.
31  *
32  */
33 
34 
35 #ifndef __SOP_IKSAMPLE_H_INCLUDED__
36 #define __SOP_IKSAMPLE_H_INCLUDED__
37 
38 #include <SOP/SOP_Node.h>
39 #include <KIN/KIN_Chain.h>
40 #include <UT/UT_VectorTypes.h>
41 #include <SYS/SYS_Types.h>
42 
43 
44 namespace HDK_Sample
45 {
46 
47 class SOP_IKSample : public SOP_Node
48 {
49 public:
51  OP_Network *net,
52  const char *name,
53  OP_Operator *op);
54  virtual ~SOP_IKSample();
55 
57  static OP_Node *myConstructor(OP_Network*, const char*, OP_Operator*);
58 
59 protected:
60 
61  /// Method to provide input labels
62  virtual const char *inputLabel(unsigned input_index) const;
63 
64  /// Method to cook geometry for the SOP
65  virtual OP_ERROR cookMySop(OP_Context &context);
66 
67 private:
68 
69  bool evaluateSolverParms(
70  OP_Context &context,
71  KIN_InverseParm &parms);
72 
73  bool setupRestChain();
74 
75  void GOAL(fpreal t, UT_Vector3R &goal) const
76  { evalFloats("goal", goal.data(), t); }
77  fpreal TWIST(fpreal t) const
78  { return evalFloat("twist", 0, t); }
79  fpreal DAMPEN(fpreal t) const
80  { return evalFloat("dampen", 0, t); }
81  int STRAIGHTEN(fpreal t) const
82  { return evalInt("straighten", 0, t); }
83  fpreal THRESHOLD(fpreal t) const
84  { return evalFloat("threshold", 0, t); }
85 
86 private:
87  KIN_Chain myRestChain;
88 };
89 
90 } // End HDK_Sample namespace
91 
92 #endif // __SOP_IKSAMPLE_H_INCLUDED__
SYS_FORCE_INLINE constexpr const T * data() const noexcept
fpreal evalFloat(int pi, int vi, fpreal t) const
UT_ErrorSeverity
Definition: UT_Error.h:25
virtual const char * inputLabel(unsigned input_index) const
Method to provide input labels.
Definition: SOP_IKSample.C:329
void evalFloats(int pi, fpreal64 *v, fpreal t) const
static OP_Node * myConstructor(OP_Network *, const char *, OP_Operator *)
Definition: SOP_IKSample.C:67
GLuint const GLchar * name
Definition: glcorearb.h:785
virtual OP_ERROR cookMySop(OP_Context &context)
Method to cook geometry for the SOP.
Definition: SOP_IKSample.C:193
SOP_IKSample(OP_Network *net, const char *name, OP_Operator *op)
Definition: SOP_IKSample.C:94
double fpreal
Definition: SYS_Types.h:270
static PRM_Template myTemplateList[]
Definition: SOP_IKSample.h:56
exint evalInt(int pi, int vi, fpreal t) const