Macros
#define	IK_STRETCH_STIFF_EPS 0.01f

#define	IK_STRETCH_STIFF_MIN 0.001f

#define	IK_STRETCH_STIFF_MAX 1e10

Typedefs
typedef void	IK_Segment

typedef enum IK_SegmentAxis	IK_SegmentAxis

typedef void	IK_Solver

Enumerations
enum	IK_SegmentFlag { IK_XDOF = 1 , IK_YDOF = 2 , IK_ZDOF = 4 , IK_TRANS_XDOF = 8 , IK_TRANS_YDOF = 16 , IK_TRANS_ZDOF = 32 }

enum	IK_SegmentAxis { IK_X = 0 , IK_Y = 1 , IK_Z = 2 , IK_TRANS_X = 3 , IK_TRANS_Y = 4 , IK_TRANS_Z = 5 }

Functions
IK_Segment *	IK_CreateSegment (int flag)

void	IK_FreeSegment (IK_Segment *seg)

void	IK_SetParent (IK_Segment seg, IK_Segment parent)

void	IK_SetTransform (IK_Segment *seg, float start[3], float rest_basis[][3], float basis[][3], float length)

void	IK_SetLimit (IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax)

void	IK_SetStiffness (IK_Segment *seg, IK_SegmentAxis axis, float stiffness)

void	IK_GetBasisChange (IK_Segment *seg, float basis_change[][3])

void	IK_GetTranslationChange (IK_Segment seg, float translation_change)

IK_Solver *	IK_CreateSolver (IK_Segment *root)

void	IK_FreeSolver (IK_Solver *solver)

void	IK_SolverAddGoal (IK_Solver solver, IK_Segment tip, float goal[3], float weight)

void	IK_SolverAddGoalOrientation (IK_Solver solver, IK_Segment tip, float goal[][3], float weight)

void	IK_SolverSetPoleVectorConstraint (IK_Solver solver, IK_Segment tip, float goal[3], float polegoal[3], float poleangle, int getangle)

float	IK_SolverGetPoleAngle (IK_Solver *solver)

int	IK_Solve (IK_Solver *solver, float tolerance, int max_iterations)

Macro Definition Documentation

◆ IK_STRETCH_STIFF_EPS

#define IK_STRETCH_STIFF_EPS 0.01f

Definition at line 145 of file IK_solver.h.

Referenced by IK_SetStiffness().

◆ IK_STRETCH_STIFF_MAX

#define IK_STRETCH_STIFF_MAX 1e10

Definition at line 147 of file IK_solver.h.

Referenced by execute_posetree().

◆ IK_STRETCH_STIFF_MIN

#define IK_STRETCH_STIFF_MIN 0.001f

Definition at line 146 of file IK_solver.h.

Referenced by execute_posetree().

Typedef Documentation

◆ IK_Segment

typedef void IK_Segment

Typical order of calls for solving an IK problem:

create number of IK_Segment's and set their parents and transforms
create an IK_Solver
set a number of goals for the IK_Solver to solve
call IK_Solve
free the IK_Solver
get basis and translation changes from segments
free all segments IK_Segment defines a single segment of an IK tree.
Individual segments are always defined in local coordinates.
The segment is assumed to be oriented in the local y-direction.
start is the start of the segment relative to the end of the parent segment.
rest_basis is a column major matrix defineding the rest position (w.r.t. which the limits are defined), must be a pure rotation
basis is a column major matrix defining the current change from the rest basis, must be a pure rotation
length is the length of the bone.
basis_change and translation_change respectively define the change in rotation or translation. basis_change is a column major 3x3 matrix.

The local transformation is then defined as: start * rest_basis * basis * basis_change * translation_change * translate(0,length,0)

Definition at line 80 of file IK_solver.h.

◆ IK_SegmentAxis

typedef enum IK_SegmentAxis IK_SegmentAxis

◆ IK_Solver

typedef void IK_Solver

An IK_Solver must be created to be able to execute the solver.

An arbitray number of goals can be created, stating that a given end effector must have a given position or rotation. If multiple goals are specified, they can be weighted (range 0..1) to get some control over their importance.

IK_Solve will execute the solver, that will run until either the system converges, or a maximum number of iterations is reached. It returns 1 if the system converged, 0 otherwise.

Definition at line 125 of file IK_solver.h.