Urho3D::IKEffector Class Reference

Inheritance diagram for Urho3D::IKEffector:

Collaboration diagram for Urho3D::IKEffector:

Public Types
enum	Feature { WEIGHT_NLERP = 0x01, INHERIT_PARENT_ROTATION = 0x02 }

Public Member Functions
	IKEffector (Context *context)
	Constructs a new IK effector.
virtual	~IKEffector ()
	Destructs he IK effector.
bool	GetFeature (Feature feature) const
	Test if a certain feature is enabled (see IKEffector::Feature)
void	SetFeature (Feature feature, bool enable)
	Enable or disable a certain feature (see IKEffector::Feature)
Node *	GetTargetNode () const
	Retrieves the node that is being used as a target. Can be NULL.
void	SetTargetNode (Node *targetNode)
	The position of the target node provides the target position of the effector node. More...
const String &	GetTargetName () const
	Retrieves the name of the target node. The node doesn't necessarily have to exist in the scene graph.
void	SetTargetName (const String &nodeName)
	Sets the name of the target node. The node doesn't necessarily have to exist in the scene graph. When a node is created that matches this name, it is selected as the target. More...
const Vector3 &	GetTargetPosition () const
	Returns the current target position in world space.
void	SetTargetPosition (const Vector3 &targetPosition)
	Sets the current target position. If the effector has a target node then this will have no effect.
const Quaternion &	GetTargetRotation () const
	Gets the current target rotation in world space.
void	SetTargetRotation (const Quaternion &targetRotation)
	Sets the current target rotation. If the effector has a target node then this will have no effect.
Vector3	GetTargetRotationEuler () const
	Required for the editor, get the target rotation in euler angles.
void	SetTargetRotationEuler (const Vector3 &targetRotation)
	Required for the editor, sets the target rotation in euler angles.
unsigned	GetChainLength () const
	Returns the number of segments that will be affected by this effector. 0 Means all nodes between this effector and the next IKSolver.
void	SetChainLength (unsigned chainLength)
	Sets the number of segments that will be affected. 0 Means all nodes between this effector and the next IKSolver.
float	GetWeight () const
	How strongly the effector affects the solution.
void	SetWeight (float weight)
	Sets how much influence the effector has on the solution. More...
float	GetRotationWeight () const
	How strongly the target node's rotation influences the solution.
void	SetRotationWeight (float weight)
	Sets how much influence the target rotation should have on the solution. A value of 1 means to match the target rotation exactly, if possible. A value of 0 means to not match it at all. More...
float	GetRotationDecay () const
	Retrieves the rotation decay factor. See SetRotationDecay() for info.
void	SetRotationDecay (float decay)
	A factor with which to control the target rotation influence of the next segments down the chain. More...
void	DrawDebugGeometry (bool depthTest)
virtual void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
	Visualize the component as debug geometry.
bool	GetWEIGHT_NLERP () const
	Need these wrapper functions flags of GetFeature/SetFeature can be correctly exposed to the editor and to AngelScript and lua.
bool	GetINHERIT_PARENT_ROTATION () const
void	SetWEIGHT_NLERP (bool enable)
void	SetINHERIT_PARENT_ROTATION (bool enable)
Public Member Functions inherited from Urho3D::Component
	Component (Context *context)
	Construct.
virtual	~Component ()
	Destruct.
virtual void	OnSetEnabled ()
	Handle enabled/disabled state change.
virtual bool	Save (Serializer &dest) const
	Save as binary data. Return true if successful.
virtual bool	SaveXML (XMLElement &dest) const
	Save as XML data. Return true if successful.
virtual bool	SaveJSON (JSONValue &dest) const
	Save as JSON data. Return true if successful.
virtual void	MarkNetworkUpdate ()
	Mark for attribute check on the next network update.
virtual void	GetDependencyNodes (PODVector< Node * > &dest)
	Return the depended on nodes to order network updates.
void	SetEnabled (bool enable)
	Set enabled/disabled state.
void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned	GetID () const
	Return ID.
Node *	GetNode () const
	Return scene node.
Scene *	GetScene () const
	Return the scene the node belongs to.
bool	IsEnabled () const
	Return whether is enabled.
bool	IsEnabledEffective () const
	Return whether is effectively enabled (node is also enabled.)
Component *	GetComponent (StringHash type) const
	Return component in the same scene node by type. If there are several, returns the first.
void	GetComponents (PODVector< Component * > &dest, StringHash type) const
	Return components in the same scene node by type.
template<class T >
T *	GetComponent () const
	Template version of returning a component in the same scene node by type.
template<class T >
void	GetComponents (PODVector< T * > &dest) const
	Template version of returning components in the same scene node by type.
void	AddReplicationState (ComponentReplicationState *state)
	Add a replication state that is tracking this component.
void	PrepareNetworkUpdate ()
	Prepare network update by comparing attributes and marking replication states dirty as necessary.
void	CleanupConnection (Connection *connection)
	Clean up all references to a network connection that is about to be removed.
Public Member Functions inherited from Urho3D::Animatable
	Animatable (Context *context)
	Construct.
virtual	~Animatable ()
	Destruct.
virtual bool	LoadXML (const XMLElement &source, bool setInstanceDefault=false)
	Load from XML data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool	LoadJSON (const JSONValue &source, bool setInstanceDefault=false)
	Load from JSON data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
void	SetAnimationEnabled (bool enable)
	Set automatic update of animation, default true.
void	SetAnimationTime (float time)
	Set time position of all attribute animations or an object animation manually. Automatic update should be disabled in this case.
void	SetObjectAnimation (ObjectAnimation *objectAnimation)
	Set object animation.
void	SetAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode=WM_LOOP, float speed=1.0f)
	Set attribute animation.
void	SetAttributeAnimationWrapMode (const String &name, WrapMode wrapMode)
	Set attribute animation wrap mode.
void	SetAttributeAnimationSpeed (const String &name, float speed)
	Set attribute animation speed.
void	SetAttributeAnimationTime (const String &name, float time)
	Set attribute animation time position manually. Automatic update should be disabled in this case.
void	RemoveObjectAnimation ()
	Remove object animation. Same as calling SetObjectAnimation with a null pointer.
void	RemoveAttributeAnimation (const String &name)
	Remove attribute animation. Same as calling SetAttributeAnimation with a null pointer.
bool	GetAnimationEnabled () const
	Return animation enabled.
ObjectAnimation *	GetObjectAnimation () const
	Return object animation.
ValueAnimation *	GetAttributeAnimation (const String &name) const
	Return attribute animation.
WrapMode	GetAttributeAnimationWrapMode (const String &name) const
	Return attribute animation wrap mode.
float	GetAttributeAnimationSpeed (const String &name) const
	Return attribute animation speed.
float	GetAttributeAnimationTime (const String &name) const
	Return attribute animation time position.
void	SetObjectAnimationAttr (const ResourceRef &value)
	Set object animation attribute.
ResourceRef	GetObjectAnimationAttr () const
	Return object animation attribute.
Public Member Functions inherited from Urho3D::Serializable
	Serializable (Context *context)
	Construct.
virtual	~Serializable ()
	Destruct.
virtual void	OnSetAttribute (const AttributeInfo &attr, const Variant &src)
	Handle attribute write access. Default implementation writes to the variable at offset, or invokes the set accessor.
virtual void	OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
	Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual const Vector < AttributeInfo > *	GetAttributes () const
	Return attribute descriptions, or null if none defined.
virtual const Vector < AttributeInfo > *	GetNetworkAttributes () const
	Return network replication attribute descriptions, or null if none defined.
virtual bool	Load (Deserializer &source, bool setInstanceDefault=false)
	Load from binary data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual void	ApplyAttributes ()
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual bool	SaveDefaultAttributes () const
	Return whether should save default-valued attributes into XML. Default false.
bool	SetAttribute (unsigned index, const Variant &value)
	Set attribute by index. Return true if successfully set.
bool	SetAttribute (const String &name, const Variant &value)
	Set attribute by name. Return true if successfully set.
void	ResetToDefault ()
	Reset all editable attributes to their default values.
void	RemoveInstanceDefault ()
	Remove instance's default values if they are set previously.
void	SetTemporary (bool enable)
	Set temporary flag. Temporary objects will not be saved.
void	SetInterceptNetworkUpdate (const String &attributeName, bool enable)
	Enable interception of an attribute from network updates. Intercepted attributes are sent as events instead of applying directly. This can be used to implement client side prediction.
void	AllocateNetworkState ()
	Allocate network attribute state.
void	WriteInitialDeltaUpdate (Serializer &dest, unsigned char timeStamp)
	Write initial delta network update.
void	WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits, unsigned char timeStamp)
	Write a delta network update according to dirty attribute bits.
void	WriteLatestDataUpdate (Serializer &dest, unsigned char timeStamp)
	Write a latest data network update.
bool	ReadDeltaUpdate (Deserializer &source)
	Read and apply a network delta update. Return true if attributes were changed.
bool	ReadLatestDataUpdate (Deserializer &source)
	Read and apply a network latest data update. Return true if attributes were changed.
Variant	GetAttribute (unsigned index) const
	Return attribute value by index. Return empty if illegal index.
Variant	GetAttribute (const String &name) const
	Return attribute value by name. Return empty if not found.
Variant	GetAttributeDefault (unsigned index) const
	Return attribute default value by index. Return empty if illegal index.
Variant	GetAttributeDefault (const String &name) const
	Return attribute default value by name. Return empty if not found.
unsigned	GetNumAttributes () const
	Return number of attributes.
unsigned	GetNumNetworkAttributes () const
	Return number of network replication attributes.
bool	IsTemporary () const
	Return whether is temporary.
bool	GetInterceptNetworkUpdate (const String &attributeName) const
	Return whether an attribute's network updates are being intercepted.
NetworkState *	GetNetworkState () const
	Return the network attribute state, if allocated.
Public Member Functions inherited from Urho3D::Object
	Object (Context *context)
	Construct.
virtual	~Object ()
	Destruct. Clean up self from event sender & receiver structures.
virtual StringHash	GetType () const =0
	Return type hash.
virtual const String &	GetTypeName () const =0
	Return type name.
virtual const TypeInfo *	GetTypeInfo () const =0
	Return type info.
virtual void	OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
	Handle event.
bool	IsInstanceOf (StringHash type) const
	Check current instance is type of specified type.
bool	IsInstanceOf (const TypeInfo *typeInfo) const
	Check current instance is type of specified type.
template<typename T >
bool	IsInstanceOf () const
	Check current instance is type of specified class.
void	SubscribeToEvent (StringHash eventType, EventHandler *handler)
	Subscribe to an event that can be sent by any sender.
void	SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *handler)
	Subscribe to a specific sender's event.
void	UnsubscribeFromEvent (StringHash eventType)
	Unsubscribe from an event.
void	UnsubscribeFromEvent (Object *sender, StringHash eventType)
	Unsubscribe from a specific sender's event.
void	UnsubscribeFromEvents (Object *sender)
	Unsubscribe from a specific sender's events.
void	UnsubscribeFromAllEvents ()
	Unsubscribe from all events.
void	UnsubscribeFromAllEventsExcept (const PODVector< StringHash > &exceptions, bool onlyUserData)
	Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events.)
void	SendEvent (StringHash eventType)
	Send event to all subscribers.
void	SendEvent (StringHash eventType, VariantMap &eventData)
	Send event with parameters to all subscribers.
VariantMap &	GetEventDataMap () const
	Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
Context *	GetContext () const
	Return execution context.
const Variant &	GetGlobalVar (StringHash key) const
	Return global variable based on key.
const VariantMap &	GetGlobalVars () const
	Return all global variables.
void	SetGlobalVar (StringHash key, const Variant &value)
	Set global variable with the respective key and value.
Object *	GetSubsystem (StringHash type) const
	Return subsystem by type.
Object *	GetEventSender () const
	Return active event sender. Null outside event handling.
EventHandler *	GetEventHandler () const
	Return active event handler. Null outside event handling.
bool	HasSubscribedToEvent (StringHash eventType) const
	Return whether has subscribed to an event without specific sender.
bool	HasSubscribedToEvent (Object *sender, StringHash eventType) const
	Return whether has subscribed to a specific sender's event.
bool	HasEventHandlers () const
	Return whether has subscribed to any event.
template<class T >
T *	GetSubsystem () const
	Template version of returning a subsystem.
const String &	GetCategory () const
	Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
Public Member Functions inherited from Urho3D::RefCounted
	RefCounted ()
	Construct. Allocate the reference count structure and set an initial self weak reference.
virtual	~RefCounted ()
	Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.
void	AddRef ()
	Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
void	ReleaseRef ()
	Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
int	Refs () const
	Return reference count.
int	WeakRefs () const
	Return weak reference count.
RefCount *	RefCountPtr ()
	Return pointer to the reference count structure.

Static Public Member Functions
static void	RegisterObject (Context *context)
	Registers this class as an object factory.
Static Public Member Functions inherited from Urho3D::Animatable
static void	RegisterObject (Context *context)
	Register object factory.
Static Public Member Functions inherited from Urho3D::Object
static const TypeInfo *	GetTypeInfoStatic ()
	Return type info static.

Private Member Functions
void	SetIKSolver (IKSolver *solver)
	Intended to be used only by IKSolver.
void	SetIKEffectorNode (ik_node_t *effector)
	Intended to be used only by IKSolver.
void	UpdateTargetNodePosition ()
	Intended to be used by IKSolver. Copies the positions/rotations of the target node into the effector.

Private Attributes
WeakPtr< Node >	targetNode_
WeakPtr< IKSolver >	solver_
ik_node_t *	ikEffectorNode_
String	targetName_
Vector3	targetPosition_
Quaternion	targetRotation_
unsigned	chainLength_
float	weight_
float	rotationWeight_
float	rotationDecay_
unsigned	features_

Friends
class	IKSolver

Additional Inherited Members
Protected Member Functions inherited from Urho3D::Component
virtual void	OnAttributeAnimationAdded ()
	Handle attribute animation added.
virtual void	OnAttributeAnimationRemoved ()
	Handle attribute animation removed.
virtual void	OnNodeSet (Node *node)
	Handle scene node being assigned at creation.
virtual void	OnSceneSet (Scene *scene)
	Handle scene being assigned. This may happen several times during the component's lifetime. Scene-wide subsystems and events are subscribed to here.
virtual void	OnMarkedDirty (Node *node)
	Handle scene node transform dirtied.
virtual void	OnNodeSetEnabled (Node *node)
	Handle scene node enabled status changing.
void	SetID (unsigned id)
	Set ID. Called by Scene.
void	SetNode (Node *node)
	Set scene node. Called by Node when creating the component.
void	HandleAttributeAnimationUpdate (StringHash eventType, VariantMap &eventData)
	Handle scene attribute animation update event.
Component *	GetFixedUpdateSource ()
	Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
void	DoAutoRemove (AutoRemoveMode mode)
	Perform autoremove. Called by subclasses. Caller should keep a weak pointer to itself to check whether was actually removed, and return immediately without further member operations in that case.
Protected Member Functions inherited from Urho3D::Animatable
virtual Animatable *	FindAttributeAnimationTarget (const String &name, String &outName)
	Find target of an attribute animation from object hierarchy by name.
void	SetObjectAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode, float speed)
	Set object attribute animation internal.
void	OnObjectAnimationAdded (ObjectAnimation *objectAnimation)
	Handle object animation added.
void	OnObjectAnimationRemoved (ObjectAnimation *objectAnimation)
	Handle object animation removed.
void	UpdateAttributeAnimations (float timeStep)
	Update attribute animations.
bool	IsAnimatedNetworkAttribute (const AttributeInfo &attrInfo) const
	Is animated network attribute.
AttributeAnimationInfo *	GetAttributeAnimationInfo (const String &name) const
	Return attribute animation info.
void	HandleAttributeAnimationAdded (StringHash eventType, VariantMap &eventData)
	Handle attribute animation added.
void	HandleAttributeAnimationRemoved (StringHash eventType, VariantMap &eventData)
	Handle attribute animation removed.
Protected Attributes inherited from Urho3D::Component
Node *	node_
	Scene node.
unsigned	id_
	Unique ID within the scene.
bool	networkUpdate_
	Network update queued flag.
bool	enabled_
	Enabled flag.
Protected Attributes inherited from Urho3D::Animatable
bool	animationEnabled_
	Animation enabled.
SharedPtr< ObjectAnimation >	objectAnimation_
	Animation.
HashSet< const AttributeInfo * >	animatedNetworkAttributes_
	Animated network attribute set.
HashMap< String, SharedPtr < AttributeAnimationInfo > >	attributeAnimationInfos_
	Attribute animation infos.
Protected Attributes inherited from Urho3D::Serializable
UniquePtr< NetworkState >	networkState_
	Network attribute state.
Protected Attributes inherited from Urho3D::Object
Context *	context_
	Execution context.

Member Enumeration Documentation

enum Urho3D::IKEffector::Feature

Enumerator
WEIGHT_NLERP	If you set the effector weight (see SetWeight()) to a value in between 0 and 1, the default behaviour is to linearly interpolate the effector's target position. If the solved tree and the initial tree are far apart, this can look very strange, especially if you are controlling limbs on a character that are designed to rotation. Enabling this causes a rotational based interpolation (nlerp) around the chain's base node and makes transitions look much more natural.
INHERIT_PARENT_ROTATION	By default the end effector node will retain its global orientation, even after solving. By enabling this feature, the node will instead "rotate with" its parent node.

Member Function Documentation

void Urho3D::IKEffector::SetRotationDecay

(

float

decay

)

A factor with which to control the target rotation influence of the next segments down the chain.

For example, if this is set to 0.5 and the rotation weight is set to 1.0, then the first segment will match the target rotation exactly, the next segment will match it only 50%, the next segment 25%, the next 12.5%, etc. This parameter makes long chains look more natural when matching a target rotation.

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void Urho3D::IKEffector::SetRotationWeight

(

float

weight

)

Sets how much influence the target rotation should have on the solution. A value of 1 means to match the target rotation exactly, if possible. A value of 0 means to not match it at all.

Note

The solver must have target rotation enabled for this to have any effect. See IKSolver::Feature::TARGET_ROTATIONS.

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void Urho3D::IKEffector::SetTargetName

(

const String &

nodeName

)

Sets the name of the target node. The node doesn't necessarily have to exist in the scene graph. When a node is created that matches this name, it is selected as the target.

Note

This clears the existing target node.

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void Urho3D::IKEffector::SetTargetNode

(

Node *

targetNode

)

The position of the target node provides the target position of the effector node.

The IK chain is solved such that the node to which this component is attached to will try to move to the position of the target node.

Parameters

targetNode

A scene node that acts as a target. Specifying NULL will erase the target and cause the solver to ignore this chain.

Note

You will get very strange behaviour if you specify a target node that is part the IK chain being solved for (circular dependency). Don't do that.

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void Urho3D::IKEffector::SetWeight

(

float

weight

)

Sets how much influence the effector has on the solution.

You can use this value to smoothly transition between a solved pose and an initial pose For instance, lifting a foot off of the ground or letting go of an object.

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The documentation for this class was generated from the following files:

• Source/Urho3D/IK/IKEffector.h
• Source/Urho3D/IK/IKEffector.cpp