Class InverseKinematics

Provides an interface for solving inverse kinematics (IK). One InverseKinematics object corresponds to one Skeleton.

Hierarchy

  • FrameworkObject
    • InverseKinematics

Constructors

constructor

Methods

addChain overrideTargets removeChain updateFromConfiguration

Constructors

constructor

  • new InverseKinematics(skeleton, maximumIterations?, epsilon?, isInternalConstructor?): InverseKinematics

  • Creates an IK solver with the given arguments.

    Parameters

    • skeleton: Skeleton

      The skeleton this solver will operate on

    • OptionalmaximumIterations: number

      Maximum amount of solver iterations per IK chain

    • Optionalepsilon: number

      Epsilon value used when comparing target transform with end effector transform to end solving early Larger values lead to less accurate but potentially quicker solves.

    • OptionalisInternalConstructor: boolean

    Returns InverseKinematics

Methods

addChain

  • addChain(configuration, sceneObject): void

  • Adds a chain with the given configuration to this solver. If a chain with that configuration has already been added, nothing happens.

    Parameters

    Returns void

overrideTargets

  • overrideTargets(targetOverrides): void

  • Overrides the chain's targets with the given scene objects.

    Parameters

    Returns void

removeChain

  • removeChain(configuration): void

  • Removes the chain with the given configuration. If no chain with the configuration exists, nothing happens.

    Parameters

    Returns void

updateFromConfiguration

  • updateFromConfiguration(configuration, colliderInformation, sceneObject): void

  • Updates the solver according to the configuration. This clears out all chains and replaces them with new ones according to the configuration.

    Parameters

    Returns void

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