Exemplo n.º 1
0
        public AwVector mulMatrix(AwMatrix matrix)
        {
            AwVector tmp = new AwVector();

            tmp.x = x * matrix.getIndex(0, 0) + y * matrix.getIndex(1, 0) + z * matrix.getIndex(2, 0);
            tmp.y = x * matrix.getIndex(0, 1) + y * matrix.getIndex(1, 1) + z * matrix.getIndex(2, 1);
            tmp.z = x * matrix.getIndex(0, 2) + y * matrix.getIndex(1, 2) + z * matrix.getIndex(2, 2);
            return(tmp);
        }
Exemplo n.º 2
0
        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;
        }
Exemplo n.º 3
0
        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;
        }
Exemplo n.º 4
0
 public AwVector mulMatrix(AwMatrix matrix)
 {
     AwVector tmp = new AwVector();
     tmp.x = x * matrix.getIndex(0, 0) + y * matrix.getIndex(1, 0) + z * matrix.getIndex(2, 0);
     tmp.y = x * matrix.getIndex(0, 1) + y * matrix.getIndex(1, 1) + z * matrix.getIndex(2, 1);
     tmp.z = x * matrix.getIndex(0, 2) + y * matrix.getIndex(1, 2) + z * matrix.getIndex(2, 2);
     return tmp;
 }