Urho3D::IKSolver Class Reference
Marks the root or "beginning" of an IK chain or multiple IK chains. The solving algorithm can be set along with other solver related parameters. The IK problem is solved starting from the node this component is attached to and ending at all nodes that have an IKEffector component attached. More...
#include <Urho3D/IK/IKSolver.h>
Public Types | |
enum | Algorithm { ONE_BONE = 0, TWO_BONE, FABRIK } |
enum | Feature { JOINT_ROTATIONS = 0x01, TARGET_ROTATIONS = 0x02, UPDATE_ORIGINAL_POSE = 0x04, UPDATE_ACTIVE_POSE = 0x08, USE_ORIGINAL_POSE = 0x10, CONSTRAINTS = 0x20, AUTO_SOLVE = 0x40 } |
Public Member Functions | |
IKSolver (Context *context) | |
Construct an IK root component. | |
virtual | ~IKSolver () |
Default destructor. | |
Algorithm | GetAlgorithm () const |
Returns the active algorithm. | |
void | SetAlgorithm (Algorithm algorithm) |
Selects the solver algorithm. Default is FABRIK. Note that this may not be the most efficient algorithm available. The specialized solvers will be a lot faster. More... | |
bool | GetFeature (Feature feature) const |
Test if a certain feature is enabled (see IKSolver::Feature) | |
void | SetFeature (Feature feature, bool enable) |
Enable or disable a certain feature (see IKSolver::Feature) | |
unsigned | GetMaximumIterations () const |
Returns the configured maximum number of iterations. | |
void | SetMaximumIterations (unsigned iterations) |
Sets the maximum number of iterations the solver is allowed to perform before applying the result. More... | |
float | GetTolerance () const |
Returns the configured tolerance. | |
void | SetTolerance (float tolerance) |
Sets the distance at which the effector is "close enough" to the target node, at which point the algorithm will stop iterating. More... | |
void | RebuildChainTrees () |
Updates the solver's internal data structures, which is required whenever the tree is modified in any way (e.g. adding or removing nodes, adding or removing effectors, etc.). More... | |
void | RecalculateSegmentLengths () |
Unusual, but if you have a tree with translational motions such that the distances between nodes changes (perhaps a slider?), you can call this to recalculate the segment lengths after assigning new positions to the nodes. More... | |
void | CalculateJointRotations () |
Skinned models require joint rotations to be calculated so skinning works correctly. This is automatically enabled by default with the feature flag JOINT_ROTATIONS. | |
void | Solve () |
Invokes the solver. The solution is applied back to the scene graph automatically. More... | |
void | ApplyOriginalPoseToScene () |
void | ApplySceneToOriginalPose () |
void | ApplyActivePoseToScene () |
void | ApplySceneToActivePose () |
void | ApplyOriginalPoseToActivePose () |
void | DrawDebugGeometry (bool depthTest) |
virtual void | DrawDebugGeometry (DebugRenderer *debug, bool depthTest) |
Visualize the component as debug geometry. | |
bool | GetJOINT_ROTATIONS () const |
Need these wrapper functions flags of GetFeature/SetFeature can be correctly exposed to the editor and to AngelScript and lua. | |
bool | GetTARGET_ROTATIONS () const |
bool | GetUPDATE_ORIGINAL_POSE () const |
bool | GetUPDATE_ACTIVE_POSE () const |
bool | GetUSE_ORIGINAL_POSE () const |
bool | GetCONSTRAINTS () const |
bool | GetAUTO_SOLVE () const |
void | SetJOINT_ROTATIONS (bool enable) |
void | SetTARGET_ROTATIONS (bool enable) |
void | SetUPDATE_ORIGINAL_POSE (bool enable) |
void | SetUPDATE_ACTIVE_POSE (bool enable) |
void | SetUSE_ORIGINAL_POSE (bool enable) |
void | SetCONSTRAINTS (bool enable) |
void | SetAUTO_SOLVE (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 to the context. | |
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 | MarkChainsNeedUpdating () |
Indicates that the internal structures of the IK library need to be updated. See the documentation of ik_solver_rebuild_chain_trees() for more info on when this happens. | |
void | MarkTreeNeedsRebuild () |
Indicates that the tree structure has changed in some way and needs updating (nodes added or removed, components added or removed) | |
bool | IsSolverTreeValid () const |
Returns false if calling Solve() would cause the IK library to abort. Urho3D's error handling philosophy is to log an error and continue, not crash. | |
virtual void | OnSceneSet (Scene *scene) |
Subscribe to drawable update finished event here. | |
virtual void | OnNodeSet (Node *scene) |
Destroys and creates the tree. | |
ik_node_t * | CreateIKNodeFromUrhoNode (const Node *node) |
Creates the ik library node and sets the current rotation/position and user data correctly. | |
void | DestroyTree () |
Destroys the solver's tree. | |
void | RebuildTree () |
Builds the solver's tree to match the scene graph's tree. If a tree already exists, it is first destroyed. | |
bool | BuildTreeToEffector (IKEffector *effector) |
Builds a chain of nodes up to the node of the specified effector component. | |
bool | ComponentIsInOurSubtree (Component *component) const |
void | HandleComponentAdded (StringHash eventType, VariantMap &eventData) |
void | HandleComponentRemoved (StringHash eventType, VariantMap &eventData) |
void | HandleNodeAdded (StringHash eventType, VariantMap &eventData) |
void | HandleNodeRemoved (StringHash eventType, VariantMap &eventData) |
void | HandleSceneDrawableUpdateFinished (StringHash eventType, VariantMap &eventData) |
Invokes the IK solver. | |
Private Attributes | |
PODVector< IKEffector * > | effectorList_ |
PODVector< IKConstraint * > | constraintList_ |
ik_solver_t * | solver_ |
Algorithm | algorithm_ |
unsigned | features_ |
bool | chainTreesNeedUpdating_ |
bool | treeNeedsRebuild |
bool | solverTreeValid_ |
Friends | |
class | IKEffector |
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 | 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. | |
Detailed Description
Marks the root or "beginning" of an IK chain or multiple IK chains. The solving algorithm can be set along with other solver related parameters. The IK problem is solved starting from the node this component is attached to and ending at all nodes that have an IKEffector component attached.
Member Enumeration Documentation
Enumerator | |
---|---|
JOINT_ROTATIONS |
Should be enabled if your model uses skinning or if you are generally interested in correct joint rotations. Has a minor performance impact. When enabled, final joint rotations are calculated as a post processing step. If you are using IK on a model with skinning, you will want to enable this or it will look wrong. If you disable this, then you will get a slight performance boost (less calculations are required) but only the node positions are updated. This can be useful for scene IK (perhaps a chain of platforms, where each platform should retain its initial world rotation?) |
TARGET_ROTATIONS |
When enabled, the effector will try to match the target's rotation as well as the effectors position. When disabled, the target node will reach the effector with any rotation necessary. If the target position goes out of range of the effector then the rotation will no longer be matched. The chain will try to reach out to reach the target position, even if it means rotating towards it. |
UPDATE_ORIGINAL_POSE |
When the solver is first initialized, it will copy the positions and rotations of the current Urho3D scene graph into an internal structure. This is referred to as the "original pose" and will by default never change for the duration of the solver's life cycle. When the solver is destroyed, the original pose is applied back to Urho3D's scene graph so the nodes are restored to whatever they were before the solver was created. By enabling UPDATE_ORIGINAL_POSE, the original pose will be updated right before solving to reflect the current Urho3D scene graph. As a consequence, there will no longer be an original pose to restore when the solver is destroyed. When disabled, the original pose will remain unmodified. The original pose is set when the solver is first created. You can manually update the original pose at any time by calling UpdateInitialPose(). |
UPDATE_ACTIVE_POSE |
Should be enabled if you are using IK on an animated model, along with disabling USE_ORIGINAL_POSE. The "active pose" has two purposes: The solver uses it as the initial tree to derive a solution from, and at the same time uses it to store the solution into. Thus, the typical solving process is: 1) The active pose needs to be updated to reflect a preferred initial condition (such as the current frame of animation) 2) Call Solve() 3) The active pose now holds the solution, so it must be applied back to the Urho3D scene graph. When enabled, the active pose is updated right before solving to reflect the current state of the Urho3D scene graph. When disabled, the active pose will simply remain as it was since the last time Solve() was called.
|
USE_ORIGINAL_POSE |
Choose between using the original pose or the active pose as a basis for a solution. When enabled, the solver will copy the original pose (see UPDATE_ORIGINAL_POSE) into the active pose before solving (and thus use the original pose as a basis for a solution).
If both UPDATE_ACTIVE_POSE and USE_ORIGINAL_POSE are disabled, then the solver will use the previously solved tree as a basis for the new calculation. The result is a more "continuous" solution that unfolds over time. This can be useful if you want to simulate chains or something similar. |
CONSTRAINTS |
Due to the somewhat unfortunate performance impacts, the solver does not enable constraints by default. Enabling constraints causes the solver's tree to be written to and from Urho3D's scene graph every iteration, while calling ApplyConstraints(). Disabling constraints means ApplyConstraints() is never called. |
AUTO_SOLVE |
Mostly exists because of the editor. When enabled, the solver will be invoked automatically for you. If you need to do additional calculations before being able to set the effector target data, you will want to disable this and call Solve() manually. |
Member Function Documentation
void Urho3D::IKSolver::ApplyActivePoseToScene | ( | ) |
Copies the solvers current active pose into the scene graph. You generally won't need to call this because it gets called for you automatically in Solve(). This is used to apply the solution back to the scene graph.
void Urho3D::IKSolver::ApplyOriginalPoseToActivePose | ( | ) |
Copies the solvers original pose into the solvers active pose. This is used in Solve() automatically if Feature::USE_ORIGINAL_POSE is set.
void Urho3D::IKSolver::ApplyOriginalPoseToScene | ( | ) |
Copies the original pose into the scene graph. This will reset the pose to whatever state it had when the IKSolver component was first created, or, if the original pose was updated since then (for example if Feature::UPDATE_ORIGINAL_POSE is set), will reset it to that state.
void Urho3D::IKSolver::ApplySceneToActivePose | ( | ) |
Copies the current scene graph data into the solvers active pose. You generally won't need to call this because it gets called for you automatically if Feature::UPDATE_ACTIVE_POSE is set.
void Urho3D::IKSolver::ApplySceneToOriginalPose | ( | ) |
Copies the current scene graph data into the solvers original pose. You generally won't need to call this, because it gets called for you automatically if Feature::UPDATE_ORIGINAL_POSE is set.
|
private |
Checks if the specified component is 1) attached to a node that is below the one we are attached to and 2) isn't in the subtree of a child solver.
- Note
- This will return false if the component is attached to our root node, because in that case the solver can't do anything to it, it's in the hands of a parent solver (if it exists).
void Urho3D::IKSolver::RebuildChainTrees | ( | ) |
Updates the solver's internal data structures, which is required whenever the tree is modified in any way (e.g. adding or removing nodes, adding or removing effectors, etc.).
- Note
- This gets called automatically for you in Solve().
void Urho3D::IKSolver::RecalculateSegmentLengths | ( | ) |
Unusual, but if you have a tree with translational motions such that the distances between nodes changes (perhaps a slider?), you can call this to recalculate the segment lengths after assigning new positions to the nodes.
- Note
- This function gets called by RebuildData() and by extension in Solve().
void Urho3D::IKSolver::SetAlgorithm | ( | IKSolver::Algorithm | algorithm | ) |
Selects the solver algorithm. Default is FABRIK. Note that this may not be the most efficient algorithm available. The specialized solvers will be a lot faster.
The currently supported solvers are listed below.
- FABRIK: This is a fairly new and highly efficient inverse kinematic solving algorithm. It requires the least iterations to reach its goal, it does not suffer from singularities (nearly no violent snapping about), and it always converges.
- 2 Bone: A specialized solver optimized for 2 bone problems (such as a human leg)
- 1 Bone: A specialized solver optimized for 1 bone problems (such as a look-at target, e.g. eyes or a head)
void Urho3D::IKSolver::SetMaximumIterations | ( | unsigned | iterations | ) |
Sets the maximum number of iterations the solver is allowed to perform before applying the result.
Depending on the algorithm, you may want higher or lower values. FABRIK looks decent after only 10 iterations, whereas Jacobian based methods often require more than a 100.
The default value is 20.
- Note
- Most algorithms have a convergence criteria at which the solver will stop iterating, so most of the time the maximum number of iterations isn't even reached.
- Parameters
-
[in] iterations Number of iterations. Must be greater than 0. Higher values yield more accurate results, but at the cost of performance.
void Urho3D::IKSolver::SetTolerance | ( | float | tolerance | ) |
Sets the distance at which the effector is "close enough" to the target node, at which point the algorithm will stop iterating.
- Parameters
-
tolerance The distance to set. Smaller values yield more accurate results, but at the cost of more iterations. Generally you'll want to specify a number that is about 1/100th to 1/1000th of the total size of the IK chain, e.g. if your human character has a leg that is 1 Urho3D unit long, a good starting tolerance would be 0.01.
void Urho3D::IKSolver::Solve | ( | ) |
Invokes the solver. The solution is applied back to the scene graph automatically.
- Note
- By default this is called automatically for you if the feature flag AUTO_SOLVE is set. For more complex IK problems you can disable that flag and call Solve() in response to E_SCENEDRAWABLEUPDATEFINISHED. This is right after the animations have been applied.
The documentation for this class was generated from the following files:
- Source/Urho3D/IK/IKSolver.h
- Source/Urho3D/IK/IKSolver.cpp