Class InverseKinematics

The Inverse Kinematics (IK) utility library.

InverseKinematics
Assembly: FlaxEngine.dll
File: Engine/Animations/InverseKinematics.h
Syntax
public class InverseKinematics

Methods

SolveAimIK(const Transform& node, const Vector3& target, Quaternion& outNodeCorrection)

Rotates a node so it aims at a target. Solves the transformation (rotation) that needs to be applied to the node such that a provided forward vector (in node local space) aims at the target position (in skeleton model space).

Declaration
public static void SolveAimIK(const Transform& node, const Vector3& target, Quaternion& outNodeCorrection)
Parameters
Transform node

The node transformation (in model space).
Vector3 target

The target position to aim at (in model space).
Quaternion outNodeCorrection

The calculated output node correction (in model- space). It needs to be multiplied with node model space quaternion.

SolveTwoBoneIK(Transform& rootNode, Transform& jointNode, Transform& targetNode, const Vector3& target, const Vector3& jointTarget, bool allowStretching=false, float maxStretchScale=1.5f)

Performs inverse kinematic on a three nodes chain (must be ancestors).

Declaration
public static void SolveTwoBoneIK(Transform& rootNode, Transform& jointNode, Transform& targetNode, const Vector3& target, const Vector3& jointTarget, bool allowStretching=false, float maxStretchScale=1.5f)
Parameters
Transform rootNode

The start node transformation (in model space).
Transform jointNode

The middle node transformation (in model space).
Transform targetNode

The end node transformation (in model space).
Vector3 target

The target position of the end node to reach (in model space).
Vector3 jointTarget

The target position of the middle node to face into (in model space).
bool allowStretching

True if allow bones stretching, otherwise bone lengths will be preserved when trying to reach the target.
float maxStretchScale

The maximum scale when stretching bones. Used only if allowStretching is true.