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>

Inheritance diagram for Urho3D::IKSolver:

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Collaboration diagram for Urho3D::IKSolver:

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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.

	~IKSolver () override
	Default destructor.

Algorithm	GetAlgorithm () const

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

void	SetFeature (Feature feature, bool enable)

unsigned	GetMaximumIterations () const

void	SetMaximumIterations (unsigned iterations)
	Sets the maximum number of iterations the solver is allowed to perform before applying the result. More...

float	GetTolerance () const

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)

void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest) override
	Visualize the component as debug geometry.

bool	GetJOINT_ROTATIONS () const

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.

	~Component () override
	Destruct.

virtual void	OnSetEnabled ()
	Handle enabled/disabled state change.

bool	Save (Serializer &dest) const override
	Save as binary data. Return true if successful.

bool	SaveXML (XMLElement &dest) const override
	Save as XML data. Return true if successful.

bool	SaveJSON (JSONValue &dest) const override
	Save as JSON data. Return true if successful.

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)

void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.

unsigned	GetID () const

bool	IsReplicated () const

Node *	GetNode () const

Scene *	GetScene () const
	Return the scene the node belongs to.

bool	IsEnabled () const

bool	IsEnabledEffective () const

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.

	~Animatable () override
	Destruct.

bool	LoadXML (const XMLElement &source) override
	Load from XML data. Return true if successful.

bool	LoadJSON (const JSONValue &source) override
	Load from JSON data. Return true if successful.

void	SetAnimationEnabled (bool enable)

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)

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

ObjectAnimation *	GetObjectAnimation () const

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.

	~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)
	Load from binary data. 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)

bool	SetAttribute (const String &name, const Variant &value)
	Set attribute by name. Return true if successfully set.

void	SetInstanceDefault (bool enable)
	Set instance-level default flag.

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)

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

Variant	GetAttribute (const String &name) const
	Return attribute value by name. Return empty if not found.

Variant	GetAttributeDefault (unsigned index) const

Variant	GetAttributeDefault (const String &name) const
	Return attribute default value by name. Return empty if not found.

unsigned	GetNumAttributes () const

unsigned	GetNumNetworkAttributes () const
	Return number of network replication attributes.

bool	IsTemporary () const

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.

	~Object () override
	Destruct. Clean up self from event sender & receiver structures.

virtual StringHash	GetType () const =0

virtual const String &	GetTypeName () const =0

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.

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.

VariantMap &	GetEventDataMap () 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.

Context *	GetContext () const
	Return execution context.

const Variant &	GetGlobalVar (StringHash key) const

const VariantMap &	GetGlobalVars () const

void	SetGlobalVar (StringHash key, const Variant &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

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.

	RefCounted (const RefCounted &rhs)=delete
	Prevent copy construction.

RefCounted &	operator= (const RefCounted &rhs)=delete
	Prevent assignment.

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

int	WeakRefs () const

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
	URHO3D_OBJECT (IKSolver, Component)

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.

void	OnSceneSet (Scene *scene) override
	Subscribe to drawable update finished event here.

void	OnNodeSet (Node *node) override
	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
void	OnAttributeAnimationAdded () override
	Handle attribute animation added.

void	OnAttributeAnimationRemoved () override
	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)

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

◆ Feature

enum Urho3D::IKSolver::Feature

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. Note This option conflicts with USE_ORIGINAL_POSE. Make sure to disable USE_ORIGINAL_POSE if you enable this feature.
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). Note This option conflicts with UPDATE_ACTIVE_POSE. If you enable this feature, make sure to disable UPDATE_ACTIVE_POSE. 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

◆ ApplyActivePoseToScene()

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.

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◆ ApplyOriginalPoseToActivePose()

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.

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◆ ApplyOriginalPoseToScene()

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.

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◆ ApplySceneToActivePose()

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.

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◆ ApplySceneToOriginalPose()

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.

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◆ ComponentIsInOurSubtree()

bool Urho3D::IKSolver::ComponentIsInOurSubtree ( Component * component ) const

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).

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◆ GetAlgorithm()

IKSolver::Algorithm Urho3D::IKSolver::GetAlgorithm ( ) const

Returns the active algorithm.

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◆ GetFeature()

bool Urho3D::IKSolver::GetFeature ( Feature feature ) const

Test if a certain feature is enabled (see IKSolver::Feature).

◆ GetMaximumIterations()

unsigned Urho3D::IKSolver::GetMaximumIterations ( ) const

Returns the configured maximum number of iterations.

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◆ GetTolerance()

float Urho3D::IKSolver::GetTolerance ( ) const

Returns the configured tolerance.

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◆ RebuildChainTrees()

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().

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◆ RecalculateSegmentLengths()

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().

◆ SetAlgorithm()

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)

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◆ SetFeature()

void Urho3D::IKSolver::SetFeature	(	Feature	feature,
		bool	enable
	)

Enable or disable a certain feature (see IKSolver::Feature).

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◆ SetMaximumIterations()

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.

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◆ SetTolerance()

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.

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◆ Solve()

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.

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

Source/Urho3D/IK/IKSolver.h
Source/Urho3D/IK/IKSolver.cpp

Urho3D::IKSolver Class Reference Dark Light HEAD Snapshots HEAD Releases 1.7.1 1.7 1.6 1.5 1.4

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Feature

Member Function Documentation

◆ ApplyActivePoseToScene()

◆ ApplyOriginalPoseToActivePose()

◆ ApplyOriginalPoseToScene()

◆ ApplySceneToActivePose()

◆ ApplySceneToOriginalPose()

◆ ComponentIsInOurSubtree()

◆ GetAlgorithm()

◆ GetFeature()

◆ GetMaximumIterations()

◆ GetTolerance()

◆ RebuildChainTrees()

◆ RecalculateSegmentLengths()

◆ SetAlgorithm()

◆ SetFeature()

◆ SetMaximumIterations()

◆ SetTolerance()

◆ Solve()

Urho3D::IKSolver Class Reference

Dark Light

Snapshots

HEAD

Releases

1.7.1

1.7

1.6

1.5

1.4