MStatus ik2Bsolver::doSolve() // // This is the doSolve method which calls solveIK. // { MStatus stat; // Handle Group // MIkHandleGroup * handle_group = handleGroup(); if (NULL == handle_group) { return MS::kFailure; } // Handle // // For single chain types of solvers, get the 0th handle. // Single chain solvers are solvers which act on one handle only, // i.e. the handle group for a single chain solver // has only one handle // MObject handle = handle_group->handle(0); MDagPath handlePath = MDagPath::getAPathTo(handle); MFnIkHandle handleFn(handlePath, &stat); // Effector // MDagPath effectorPath; handleFn.getEffector(effectorPath); MFnIkEffector effectorFn(effectorPath); // Mid Joint // effectorPath.pop(); MFnIkJoint midJointFn(effectorPath); // Start Joint // MDagPath startJointPath; handleFn.getStartJoint(startJointPath); MFnIkJoint startJointFn(startJointPath); // Preferred angles // double startJointPrefAngle[3]; double midJointPrefAngle[3]; startJointFn.getPreferedAngle(startJointPrefAngle); midJointFn.getPreferedAngle(midJointPrefAngle); // Set to preferred angles // startJointFn.setRotation(startJointPrefAngle, startJointFn.rotationOrder()); midJointFn.setRotation(midJointPrefAngle, midJointFn.rotationOrder()); AwPoint handlePos = handleFn.rotatePivot(MSpace::kWorld); AwPoint effectorPos = effectorFn.rotatePivot(MSpace::kWorld); AwPoint midJointPos = midJointFn.rotatePivot(MSpace::kWorld); AwPoint startJointPos = startJointFn.rotatePivot(MSpace::kWorld); AwVector poleVector = poleVectorFromHandle(handlePath); poleVector *= handlePath.exclusiveMatrix(); double twistValue = twistFromHandle(handlePath); AwQuaternion qStart, qMid; solveIK(startJointPos, midJointPos, effectorPos, handlePos, poleVector, twistValue, qStart, qMid); midJointFn.rotateBy(qMid, MSpace::kWorld); startJointFn.rotateBy(qStart, MSpace::kWorld); return MS::kSuccess; }
MStatus ik2Bsolver::doSolve() // // This is the doSolve method which calls solveIK. // { MStatus stat; // Handle Group // MIkHandleGroup * handle_group = handleGroup(); if (NULL == handle_group) { return MS::kFailure; } // Handle // // For single chain types of solvers, get the 0th handle. // Single chain solvers are solvers which act on one handle only, // i.e. the handle group for a single chain solver // has only one handle // MObject handle = handle_group->handle(0); MDagPath handlePath = MDagPath::getAPathTo(handle); MFnIkHandle handleFn(handlePath, &stat); // Effector // MDagPath effectorPath; handleFn.getEffector(effectorPath); // MGlobal::displayInfo(effectorPath.fullPathName()); MFnIkEffector effectorFn(effectorPath); // Mid Joint // effectorPath.pop(); MFnIkJoint midJointFn(effectorPath); // End Joint // MDagPath endJointPath; bool hasEndJ = findFirstJointChild(effectorPath, endJointPath); // if(hasEndJ) MGlobal::displayInfo(endJointPath.fullPathName()); MFnIkJoint endJointFn(endJointPath); // Start Joint // MDagPath startJointPath; handleFn.getStartJoint(startJointPath); MFnIkJoint startJointFn(startJointPath); // Preferred angles // double startJointPrefAngle[3]; double midJointPrefAngle[3]; startJointFn.getPreferedAngle(startJointPrefAngle); midJointFn.getPreferedAngle(midJointPrefAngle); // Set to preferred angles // startJointFn.setRotation(startJointPrefAngle, startJointFn.rotationOrder()); midJointFn.setRotation(midJointPrefAngle, midJointFn.rotationOrder()); MPoint handlePos = handleFn.rotatePivot(MSpace::kWorld); MPoint effectorPos = effectorFn.rotatePivot(MSpace::kWorld); MPoint midJointPos = midJointFn.rotatePivot(MSpace::kWorld); MPoint startJointPos = startJointFn.rotatePivot(MSpace::kWorld); MVector poleVector = poleVectorFromHandle(handlePath); poleVector *= handlePath.exclusiveMatrix(); double twistValue = twistFromHandle(handlePath); MObject thisNode = thisMObject(); MVector localEndJointT = endJointFn.getTranslation(MSpace::kTransform); MVector worldEndJointT = endJointFn.rotatePivot(MSpace::kWorld) - midJointPos; double scaling = worldEndJointT.length() / ( localEndJointT.length() + 1e-6); // MGlobal::displayInfo(MString(" scaling ")+scaling); // get rest length // double restL1, restL2; MPlug(thisNode, arestLength1).getValue(restL1); MPlug(thisNode, arestLength2).getValue(restL2); // get soft distance // MPlug plug( thisNode, asoftDistance ); double softD = 0.0; plug.getValue(softD); restL1 *= scaling; restL2 *= scaling; softD *= scaling; // get max stretching double maxStretching = 0.0; MPlug(thisNode, amaxStretching).getValue(maxStretching); MQuaternion qStart, qMid; double stretching = 0.0; solveIK(startJointPos, midJointPos, effectorPos, handlePos, poleVector, twistValue, qStart, qMid, softD, restL1, restL2, stretching); midJointFn.rotateBy(qMid, MSpace::kWorld); startJointFn.rotateBy(qStart, MSpace::kWorld); midJointFn.setTranslation(MVector(restL1 / scaling, 0.0, 0.0), MSpace::kTransform); endJointFn.setTranslation(MVector(restL2 / scaling, 0.0, 0.0), MSpace::kTransform); // if(stretching > maxStretching) stretching = maxStretching; if(maxStretching > 0.0) { MVector vstretch(stretching* 0.5 / scaling, 0.0, 0.0); midJointFn.translateBy(vstretch, MSpace::kTransform); endJointFn.translateBy(vstretch, MSpace::kTransform); } return MS::kSuccess; }