Class reference

IterateIK3D

Inherits ChainIK3D

A SkeletonModifier3D to approach the goal by repeating small rotations.

Description

Base class of SkeletonModifier3D to approach the goal by repeating small rotations. Each bone chain (setting) has one effector, which is processed in order of the setting list. You can set some limitations for each joint.

Properties

`float angular_delta_limit = 0.034906585`

The maximum amount each bone can rotate in a single iteration. Note: This limitation is applied during each iteration. For example, if max_iterations is 4 and angular_delta_limit is 5 degrees, the maximum rotation possible in a single frame is 20 degrees.

`bool deterministic = false`

If false, the result is calculated from the previous frame's IterateIK3D result as the initial state. If true, the previous frame's IterateIK3D result is discarded. At this point, the new result is calculated from the bone pose excluding the IterateIK3D as the initial state. This means the result will be always equal as long as the target position and the previous bone pose are the same. However, if angular_delta_limit and max_iterations are set too small, the end bone of the chain will never reach the target.

`int max_iterations = 4`

The number of iteration loops used by the IK solver to produce more accurate results.

`float min_distance = 0.001`

The minimum distance between the end bone and the target. If the distance is below this value, the IK solver stops any further iterations.

`int setting_count = 0`

The number of settings.

Methods

`JointLimitation3D get_joint_limitation(int index, int joint) const`

Returns the joint limitation at joint in the bone chain's joint list.

`int get_joint_limitation_right_axis(int index, int joint) const`

Returns the joint limitation right axis at joint in the bone chain's joint list.

`Vector3 get_joint_limitation_right_axis_vector(int index, int joint) const`

Returns the joint limitation right axis vector at joint in the bone chain's joint list. If get_joint_limitation_right_axis() is SkeletonModifier3D.SECONDARY_DIRECTION_NONE, this method returns Vector3(0, 0, 0).

`Quaternion get_joint_limitation_rotation_offset(int index, int joint) const`

Returns the joint limitation rotation offset at joint in the bone chain's joint list. Rotation is done in the local space which is constructed by the bone direction (in general parent to child) as the +Y axis and get_joint_limitation_right_axis_vector() as the +X axis. If the +X and +Y axes are not orthogonal, the +X axis is implicitly modified to make it orthogonal. Also, if the length of get_joint_limitation_right_axis_vector() is zero, the space is created by rotating the bone rest using the shortest arc that rotates the +Y axis of the bone rest to match the bone direction.

`int get_joint_rotation_axis(int index, int joint) const`

Returns the rotation axis at joint in the bone chain's joint list.

`Vector3 get_joint_rotation_axis_vector(int index, int joint) const`

Returns the rotation axis vector for the specified joint in the bone chain. This vector represents the axis around which the joint can rotate. It is determined based on the rotation axis set for the joint. If get_joint_rotation_axis() is SkeletonModifier3D.ROTATION_AXIS_ALL, this method returns Vector3(0, 0, 0).

`NodePath get_target_node(int index) const`

Returns the target node that the end bone is trying to reach.

`void set_joint_limitation(int index, int joint, JointLimitation3D limitation)`

Sets the joint limitation at joint in the bone chain's joint list.

`void set_joint_limitation_right_axis(int index, int joint, int direction)`

Sets the joint limitation right axis at joint in the bone chain's joint list.

`void set_joint_limitation_right_axis_vector(int index, int joint, Vector3 vector)`

Sets the optional joint limitation right axis vector at joint in the bone chain's joint list.

`void set_joint_limitation_rotation_offset(int index, int joint, Quaternion offset)`

Sets the joint limitation rotation offset at joint in the bone chain's joint list. Rotation is done in the local space which is constructed by the bone direction (in general parent to child) as the +Y axis and get_joint_limitation_right_axis_vector() as the +X axis. If the +X and +Y axes are not orthogonal, the +X axis is implicitly modified to make it orthogonal. Also, if the length of get_joint_limitation_right_axis_vector() is zero, the space is created by rotating the bone rest using the shortest arc that rotates the +Y axis of the bone rest to match the bone direction.

`void set_joint_rotation_axis(int index, int joint, int axis)`

Sets the rotation axis at joint in the bone chain's joint list. The axes are based on the Skeleton3D.get_bone_rest()'s space, if axis is SkeletonModifier3D.ROTATION_AXIS_CUSTOM, you can specify any axis. Note: The rotation axis and the forward vector shouldn't be colinear to avoid unintended rotation since ChainIK3D does not factor in twisting forces.

`void set_joint_rotation_axis_vector(int index, int joint, Vector3 axis_vector)`

Sets the rotation axis vector for the specified joint in the bone chain. This vector is normalized by an internal process and represents the axis around which the bone chain can rotate. If the vector length is 0, it is considered synonymous with SkeletonModifier3D.ROTATION_AXIS_ALL.

`void set_target_node(int index, NodePath target_node)`

Sets the target node that the end bone is trying to reach.

Source revision 5592dc3a7a61