IRsIkHandle Interface Reference

Inherits IUnknown.

List of all members.

Public Member Functions
HRESULT	GetIkParameters ([out] IRsNode **ppBone,[out] IRdIkLocks **ppLocks,[out] IRdIkStyle **ppStype,[out] ReIkSolverFlags *pdwFlags,[out] RtPoint *ptMovementAnchor,[out] RtPoint *ptMovementTarget,[out] RtVector3f *pRotationAnchor,[out] RtVector3f *pRotationTarget,[out] RtFloat *pfQuality)
HRESULT	SetSolverError ([in] RtVector3f *pError)
HRESULT	SetInvalidationBlocking (RtBool bBlock)
HRESULT	GetSolverError ([out] RtVector3f *pError)

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Detailed Description

IRsIkHandle is an helper interface for IK calculations.

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Member Function Documentation

HRESULT IRsIkHandle::GetIkParameters	(	[out] IRsNode **	ppBone,
		[out] IRdIkLocks **	ppLocks,
		[out] IRdIkStyle **	ppStype,
		[out] ReIkSolverFlags *	pdwFlags,
		[out] RtPoint *	ptMovementAnchor,
		[out] RtPoint *	ptMovementTarget,
		[out] RtVector3f *	pRotationAnchor,
		[out] RtVector3f *	pRotationTarget,
		[out] RtFloat *	pfQuality
	)

Called by IK solver to get movement, rotation and lock parameters for the handle.
Parameters are retrieved in this way because usually IK is executed as a response to some set value or invalidate event which does not allow GetValue executions.
This method is called from Master thread, so you are allowed to read/write the pose data.

Parameters:

	ppBone	[out] .
	ppLocks	[out] .
	ppStype	[out] .
	pdwFlags	[out] .
	ptMovementAnchor	[out] .
	ptMovementTarget	[out] .
	pRotationAnchor	[out] .
	pRotationTarget	[out] .
	pfQuality	[out] .

Returns:

standard HRESULT processing can be applied to returned value.

HRESULT IRsIkHandle::SetSolverError

(

[in] RtVector3f *

pError

)

Called by IK solver to set solver error to reduce error accumulation.
Error vector is defined in Bone space and defines displacement between achieved and target position.

Parameters:

pError

[in] .

Returns:

standard HRESULT processing can be applied to returned value.

HRESULT IRsIkHandle::SetInvalidationBlocking

(

RtBool

bBlock

)

Enable or disable invalidation blocking for performing updates.

Parameters:

bBlock

[in] Set to true to disable IK calculation as a consequence of transform matrices change.

Returns:

return S_OK if invalidation was blocked, S_FALSe otherwise.

HRESULT IRsIkHandle::GetSolverError

(

[out] RtVector3f *

pError

)

Get solver error.

Parameters:

pError

[out] .

Returns:

standard HRESULT processing can be applied to returned value