public AwQuaternion(AwQuaternion q)
{
w = q.w;
x = q.x;
y = q.y;
z = q.z;
}
public AwQuaternion(AwQuaternion q)
{
w = q.w;
x = q.x;
y = q.y;
z = q.z;
}
public AwQuaternion mul(AwQuaternion rhs)
{
AwQuaternion result = new AwQuaternion();
result.w = rhs.w * w - (rhs.x * x + rhs.y * y + rhs.z * z);
result.x = rhs.w * x + rhs.x * w + rhs.y * z - rhs.z * y;
result.y = rhs.w * y + rhs.y * w + rhs.z * x - rhs.x * z;
result.z = rhs.w * z + rhs.z * w + rhs.x * y - rhs.y * x;
return(result);
}
public AwVector rotateBy(AwQuaternion q)
{
double rw = -q.x * x - q.y * y - q.z * z;
double rx = q.w * x + q.y * z - q.z * y;
double ry = q.w * y + q.z * x - q.x * z;
double rz = q.w * z + q.x * y - q.y * x;
AwVector v = new AwVector(-rw * q.x + rx * q.w - ry * q.z + rz * q.y,
-rw * q.y + ry * q.w - rz * q.x + rx * q.z,
-rw * q.z + rz * q.w - rx * q.y + ry * q.x);
return(v);
}
public AwQuaternion mul(AwQuaternion rhs)
{
AwQuaternion result = new AwQuaternion();
result.w = rhs.w * w - (rhs.x * x + rhs.y * y + rhs.z * z);
result.x = rhs.w * x + rhs.x * w + rhs.y * z - rhs.z * y;
result.y = rhs.w * y + rhs.y * w + rhs.z * x - rhs.x * z;
result.z = rhs.w * z + rhs.z * w + rhs.x * y - rhs.y * x;
return result;
}
public override void doSolve()
{
MIkHandleGroup handle_group = handleGroup;
if (handle_group == null)
{
throw new InvalidOperationException("Invalid handle group");
}
MObject handle = handle_group.handle(0);
MDagPath handlePath = MDagPath.getAPathTo(handle);
MFnIkHandle handleFn = new MFnIkHandle(handlePath);
//Effector
//
MDagPath effectorPath = new MDagPath();
handleFn.getEffector(effectorPath);
MFnIkEffector effectorFn = new MFnIkEffector(effectorPath);
effectorPath.pop();
MFnIkJoint midJoinFn = new MFnIkJoint(effectorPath);
// Start Joint
//
MDagPath startJointPath = new MDagPath();
handleFn.getStartJoint(startJointPath);
MFnIkJoint startJointFn = new MFnIkJoint(startJointPath);
// Preferred angles
//
double [] startJointPrefAngle = new double[3];
double[] midJointPrefAngle = new double[3];
startJointFn.getPreferedAngle(startJointPrefAngle);
midJoinFn.getPreferedAngle(midJointPrefAngle);
// Set to preferred angles
//
startJointFn.setRotation(startJointPrefAngle, startJointFn.rotationOrder);
midJoinFn.setRotation(midJointPrefAngle, midJoinFn.rotationOrder);
MPoint handlePos = handleFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awHandlePos = new AwPoint(handlePos.x, handlePos.y, handlePos.z, handlePos.w);
MPoint effectorPos = effectorFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awEffectorPos = new AwPoint(effectorPos.x, effectorPos.y, effectorPos.z, effectorPos.w);
MPoint midJoinPos = midJoinFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awMidJoinPos = new AwPoint(midJoinPos.x, midJoinPos.y, midJoinPos.z, midJoinPos.w);
MPoint startJointPos = startJointFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awStartJointPos = new AwPoint(startJointPos.x, startJointPos.y, startJointPos.z, startJointPos.w);
AwVector poleVector = poleVectorFromHandle(handlePath);
MMatrix m = handlePath.exclusiveMatrix;
AwMatrix awM = new AwMatrix();
awM.setMatrix(m);
poleVector = poleVector.mulMatrix(awM);
double twistValue = twistFromHandle(handlePath);
AwQuaternion qStart = new AwQuaternion();
AwQuaternion qMid = new AwQuaternion();
solveIK(awStartJointPos, awMidJoinPos, awEffectorPos, awHandlePos,
poleVector, twistValue, qStart, qMid);
MQuaternion mid = new MQuaternion(qMid.x, qMid.y, qMid.z, qMid.w);
MQuaternion start = new MQuaternion(qStart.x, qStart.y, qStart.z, qStart.w);
midJoinFn.rotateBy(mid, MSpace.Space.kWorld);
startJointFn.rotateBy(start, MSpace.Space.kWorld);
return;
}
void solveIK(AwPoint startJointPos,
AwPoint midJointPos,
AwPoint effectorPos,
AwPoint handlePos,
AwVector poleVector,
double twistValue,
AwQuaternion qStart,
AwQuaternion qMid)
// This is method that actually computes the IK solution.
//
{
// vector from startJoint to midJoint
AwVector vector1 = midJointPos.sub(startJointPos);
// vector from midJoint to effector
AwVector vector2 = effectorPos.sub(midJointPos);
// vector from startJoint to handle
AwVector vectorH = handlePos.sub(startJointPos);
// vector from startJoint to effector
AwVector vectorE = effectorPos.sub(startJointPos);
// lengths of those vectors
double length1 = vector1.length();
double length2 = vector2.length();
double lengthH = vectorH.length();
double d = vector1.mul(vectorE) / vectorE.mul(vectorE);
AwVector vectorO = vector1.sub(vectorE.mul(d));
//////////////////////////////////////////////////////////////////
// calculate q12 which solves for the midJoint rotation
//////////////////////////////////////////////////////////////////
// angle between vector1 and vector2
double vectorAngle12 = vector1.angle(vector2);
// vector orthogonal to vector1 and 2
AwVector vectorCross12 = vector1.crossProduct(vector2);
double lengthHsquared = lengthH * lengthH;
// angle for arm extension
double cos_theta =
(lengthHsquared - length1 * length1 - length2 * length2)
/ (2 * length1 * length2);
if (cos_theta > 1)
{
cos_theta = 1;
}
else if (cos_theta < -1)
{
cos_theta = -1;
}
double theta = Math.Acos(cos_theta);
AwQuaternion q12 = new AwQuaternion(theta - vectorAngle12, vectorCross12);
//////////////////////////////////////////////////////////////////
// calculate qEH which solves for effector rotating onto the handle
//////////////////////////////////////////////////////////////////
// vector2 with quaternion q12 applied
vector2 = vector2.rotateBy(q12);
// vectorE with quaternion q12 applied
vectorE = vector1.add(vector2);
// quaternion for rotating the effector onto the handle
AwQuaternion qEH = new AwQuaternion(vectorE, vectorH);
// calculate qNP which solves for the rotate plane
//////////////////////////////////////////////////////////////////
// vector1 with quaternion qEH applied
vector1 = vector1.rotateBy(qEH);
if (vector1.isParallel(vectorH, AwMath.kDoubleEpsilon))
{
// singular case, use orthogonal component instead
vector1 = vectorO.rotateBy(qEH);
}
AwQuaternion qNP = new AwQuaternion();
if (!poleVector.isParallel(vectorH, AwMath.kDoubleEpsilon) && (lengthHsquared != 0))
{
double temp = poleVector.mul(vectorH) / lengthHsquared;
AwVector vectorN = vector1.sub(vectorH.mul(temp));
AwVector vectorP = poleVector.sub(vectorH.mul(vector1.mul(vectorH) / lengthHsquared));
double dotNP = (vectorN.mul(vectorP)) / (vectorN.length() * vectorP.length());
if (Math.Abs(dotNP + 1.0) < kEpsilon)
{
// singular case, rotate halfway around vectorH
AwQuaternion qNP1 = new AwQuaternion(AwMath.kPi, vectorH);
qNP = qNP1;
}
else
{
AwQuaternion qNP2 = new AwQuaternion(vectorN, vectorP);
qNP = qNP2;
}
}
//////////////////////////////////////////////////////////////////
// calculate qTwist which adds the twist
//////////////////////////////////////////////////////////////////
AwQuaternion qTwist = new AwQuaternion(twistValue, vectorH);
// quaternion for the mid joint
qMid = q12;
// concatenate the quaternions for the start joint
AwQuaternion qTemp = qEH.mul(qNP);
qStart = qTemp.mul(qTwist);
}
// This is method that actually computes the IK solution.
//
void solveIK( AwPoint startJointPos,
AwPoint midJointPos,
AwPoint effectorPos,
AwPoint handlePos,
AwVector poleVector,
double twistValue,
AwQuaternion qStart,
AwQuaternion qMid)
{
// vector from startJoint to midJoint
AwVector vector1 = midJointPos.sub(startJointPos);
// vector from midJoint to effector
AwVector vector2 = effectorPos.sub(midJointPos);
// vector from startJoint to handle
AwVector vectorH = handlePos.sub(startJointPos);
// vector from startJoint to effector
AwVector vectorE = effectorPos.sub(startJointPos);
// lengths of those vectors
double length1 = vector1.length();
double length2 = vector2.length();
double lengthH = vectorH.length();
double d = vector1.mul(vectorE) / vectorE.mul(vectorE);
AwVector vectorO = vector1.sub(vectorE.mul(d));
//////////////////////////////////////////////////////////////////
// calculate q12 which solves for the midJoint rotation
//////////////////////////////////////////////////////////////////
// angle between vector1 and vector2
double vectorAngle12 = vector1.angle(vector2);
// vector orthogonal to vector1 and 2
AwVector vectorCross12 = vector1.crossProduct(vector2);
double lengthHsquared = lengthH * lengthH;
// angle for arm extension
double cos_theta =
(lengthHsquared - length1*length1 - length2*length2)
/(2*length1*length2);
if (cos_theta > 1)
cos_theta = 1;
else if (cos_theta < -1)
cos_theta = -1;
double theta = Math.Acos(cos_theta);
AwQuaternion q12 = new AwQuaternion(theta - vectorAngle12, vectorCross12);
//////////////////////////////////////////////////////////////////
// calculate qEH which solves for effector rotating onto the handle
//////////////////////////////////////////////////////////////////
// vector2 with quaternion q12 applied
vector2 = vector2.rotateBy(q12);
// vectorE with quaternion q12 applied
vectorE = vector1.add(vector2);
// quaternion for rotating the effector onto the handle
AwQuaternion qEH = new AwQuaternion(vectorE, vectorH);
// calculate qNP which solves for the rotate plane
//////////////////////////////////////////////////////////////////
// vector1 with quaternion qEH applied
vector1 = vector1.rotateBy(qEH);
if (vector1.isParallel(vectorH,AwMath.kDoubleEpsilon))
// singular case, use orthogonal component instead
vector1 = vectorO.rotateBy(qEH);
AwQuaternion qNP = new AwQuaternion();
if (!poleVector.isParallel(vectorH, AwMath.kDoubleEpsilon) && (lengthHsquared != 0))
{
double temp = poleVector.mul(vectorH) / lengthHsquared;
AwVector vectorN = vector1.sub(vectorH.mul(temp));
AwVector vectorP = poleVector.sub(vectorH.mul(vector1.mul(vectorH) / lengthHsquared));
double dotNP = (vectorN.mul(vectorP)) / (vectorN.length() * vectorP.length());
if (Math.Abs(dotNP + 1.0) < kEpsilon)
{
// singular case, rotate halfway around vectorH
AwQuaternion qNP1 = new AwQuaternion(AwMath.kPi, vectorH);
qNP = qNP1;
}
else
{
AwQuaternion qNP2 = new AwQuaternion(vectorN, vectorP);
qNP = qNP2;
}
}
//////////////////////////////////////////////////////////////////
// calculate qTwist which adds the twist
//////////////////////////////////////////////////////////////////
AwQuaternion qTwist = new AwQuaternion(twistValue, vectorH);
// quaternion for the mid joint
qMid = q12;
// concatenate the quaternions for the start joint
AwQuaternion qTemp = qEH.mul(qNP);
qStart = qTemp.mul(qTwist);
}
public override void doSolve()
{
MIkHandleGroup handle_group = handleGroup;
if (handle_group == null)
throw new InvalidOperationException("Invalid handle group");
MObject handle = handle_group.handle(0);
MDagPath handlePath = MDagPath.getAPathTo(handle);
MFnIkHandle handleFn = new MFnIkHandle(handlePath);
//Effector
//
MDagPath effectorPath = new MDagPath();
handleFn.getEffector(effectorPath);
MFnIkEffector effectorFn = new MFnIkEffector(effectorPath);
effectorPath.pop();
MFnIkJoint midJoinFn = new MFnIkJoint(effectorPath);
// Start Joint
//
MDagPath startJointPath = new MDagPath();
handleFn.getStartJoint(startJointPath);
MFnIkJoint startJointFn = new MFnIkJoint(startJointPath);
// Preferred angles
//
double [] startJointPrefAngle = new double[3];
double[] midJointPrefAngle = new double[3];
startJointFn.getPreferedAngle(startJointPrefAngle);
midJoinFn.getPreferedAngle(midJointPrefAngle);
// Set to preferred angles
//
startJointFn.setRotation(startJointPrefAngle, startJointFn.rotationOrder);
midJoinFn.setRotation(midJointPrefAngle, midJoinFn.rotationOrder);
MPoint handlePos = handleFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awHandlePos = new AwPoint(handlePos.x, handlePos.y, handlePos.z, handlePos.w);
MPoint effectorPos = effectorFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awEffectorPos = new AwPoint(effectorPos.x, effectorPos.y, effectorPos.z, effectorPos.w);
MPoint midJoinPos = midJoinFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awMidJoinPos = new AwPoint(midJoinPos.x, midJoinPos.y, midJoinPos.z, midJoinPos.w);
MPoint startJointPos = startJointFn.rotatePivot(MSpace.Space.kWorld);
AwPoint awStartJointPos = new AwPoint(startJointPos.x, startJointPos.y, startJointPos.z, startJointPos.w);
AwVector poleVector = poleVectorFromHandle(handlePath);
MMatrix m = handlePath.exclusiveMatrix;
AwMatrix awM = new AwMatrix();
awM.setMatrix(m);
poleVector = poleVector.mulMatrix(awM);
double twistValue = twistFromHandle(handlePath);
AwQuaternion qStart = new AwQuaternion();
AwQuaternion qMid = new AwQuaternion();
solveIK(awStartJointPos, awMidJoinPos, awEffectorPos, awHandlePos,
poleVector, twistValue, qStart, qMid);
MQuaternion mid = new MQuaternion(qMid.x, qMid.y, qMid.z, qMid.w);
MQuaternion start = new MQuaternion(qStart.x, qStart.y, qStart.z, qStart.w);
midJoinFn.rotateBy(mid, MSpace.Space.kWorld);
startJointFn.rotateBy(start, MSpace.Space.kWorld);
return;
}
public AwVector rotateBy( AwQuaternion q)
{
double rw = -q.x * x - q.y * y - q.z * z;
double rx = q.w * x + q.y * z - q.z * y;
double ry = q.w * y + q.z * x - q.x * z;
double rz = q.w * z + q.x * y - q.y * x;
AwVector v = new AwVector(-rw * q.x + rx * q.w - ry * q.z + rz * q.y,
-rw * q.y + ry * q.w - rz * q.x + rx * q.z,
-rw * q.z + rz * q.w - rx * q.y + ry * q.x);
return v;
}
