SOP/SOP_IKSample.h

/*
 * Copyright (c) 2025
 *      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
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 *
 *----------------------------------------------------------------------------
 *
 * 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 <UT/UT_VectorTypes.h>
#include <SYS/SYS_Types.h>


namespace HDK_Sample
{

class SOP_IKSample : public SOP_Node
{
public:
                         SOP_IKSample(
                                OP_Network *net,
                                const char *name,
                                OP_Operator *op);
                        ~SOP_IKSample() override;

    static PRM_Template  myTemplateList[];
    static OP_Node      *myConstructor(OP_Network*, const char*, OP_Operator*);

protected:

    /// Method to provide input labels
    const char          *inputLabel(OP_InputIdx input_index) const override;

    /// Method to cook geometry for the SOP
    OP_ERROR             cookMySop(OP_Context &context) override;

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__