Inheritance diagram for Urho3D::IKEffector:
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Collaboration diagram for Urho3D::IKEffector:
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Public Types

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

Public Member Functions

 IKEffector (Context *context)
 Constructs a new IK effector.
 
virtual ~IKEffector () override
 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)
 
NodeGetTargetNode () 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 StringGetTargetName () 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 Vector3GetTargetPosition () 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 QuaternionGetTargetRotation () 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) override
 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 () override
 Destruct.
 
virtual void OnSetEnabled ()
 Handle enabled/disabled state change.
 
virtual bool Save (Serializer &dest) const override
 Save as binary data. Return true if successful.
 
virtual bool SaveXML (XMLElement &dest) const override
 Save as XML data. Return true if successful.
 
virtual bool SaveJSON (JSONValue &dest) const override
 Save as JSON data. Return true if successful.
 
virtual void MarkNetworkUpdate () override
 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.
 
NodeGetNode () const
 Return scene node.
 
SceneGetScene () 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.)
 
ComponentGetComponent (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 () override
 Destruct.
 
virtual bool LoadXML (const XMLElement &source, bool setInstanceDefault=false) override
 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) override
 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.
 
ObjectAnimationGetObjectAnimation () const
 Return object animation.
 
ValueAnimationGetAttributeAnimation (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 () override
 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.
 
NetworkStateGetNetworkState () const
 Return the network attribute state, if allocated.
 
- Public Member Functions inherited from Urho3D::Object
 Object (Context *context)
 Construct.
 
virtual ~Object () override
 Destruct. Clean up self from event sender & receiver structures.
 
virtual StringHash GetType () const =0
 Return type hash.
 
virtual const StringGetTypeName () const =0
 Return type name.
 
virtual const TypeInfoGetTypeInfo () 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.
 
template<typename T >
T * Cast ()
 Cast the object to specified most derived class.
 
template<typename T >
const T * Cast () const
 Cast the object to specified most derived 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 SubscribeToEvent (StringHash eventType, const std::function< void(StringHash, VariantMap &)> &function, void *userData=nullptr)
 Subscribe to an event that can be sent by any sender.
 
void SubscribeToEvent (Object *sender, StringHash eventType, const std::function< void(StringHash, VariantMap &)> &function, void *userData=nullptr)
 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.
 
VariantMapGetEventDataMap () const
 Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
 
template<typename... Args>
void SendEvent (StringHash eventType, Args...args)
 Send event with variadic parameter pairs to all subscribers. The parameter pairs is a list of paramID and paramValue separated by comma, one pair after another.
 
ContextGetContext () const
 Return execution context.
 
const VariantGetGlobalVar (StringHash key) const
 Return global variable based on key.
 
const VariantMapGetGlobalVars () const
 Return all global variables.
 
void SetGlobalVar (StringHash key, const Variant &value)
 Set global variable with the respective key and value.
 
ObjectGetSubsystem (StringHash type) const
 Return subsystem by type.
 
ObjectGetEventSender () const
 Return active event sender. Null outside event handling.
 
EventHandlerGetEventHandler () 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 StringGetCategory () const
 Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
 
void SetBlockEvents (bool block)
 Block object from sending and receiving events.
 
bool GetBlockEvents () const
 Return sending and receiving events blocking status.
 
- 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.
 
RefCountRefCountPtr ()
 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 TypeInfoGetTypeInfoStatic ()
 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< NodetargetNode_
 
WeakPtr< IKSolversolver_
 
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 () override
 Handle attribute animation added.
 
virtual void OnAttributeAnimationRemoved () override
 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.
 
ComponentGetFixedUpdateSource ()
 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 AnimatableFindAttributeAnimationTarget (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.
 
AttributeAnimationInfoGetAttributeAnimationInfo (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
Nodenode_
 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< ObjectAnimationobjectAnimation_
 Animation.
 
HashSet< const AttributeInfo * > animatedNetworkAttributes_
 Animated network attribute set.
 
HashMap< String, SharedPtr
< AttributeAnimationInfo > > 
attributeAnimationInfos_
 Attribute animation infos.
 
- Protected Attributes inherited from Urho3D::Serializable
UniquePtr< NetworkStatenetworkState_
 Network attribute state.
 
- Protected Attributes inherited from Urho3D::Object
Contextcontext_
 Execution context.
 

Member Enumeration Documentation

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
targetNodeA 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