Uniformly bending IK chain. More...

#include <Urho3D/Math/InverseKinematics.h>

Inheritance diagram for Urho3D::IKSpineChain:

Public Types
using	WeightFunction = ea::function<float(float)>

Public Member Functions
void	Solve (const Vector3 &target, const Vector3 &baseDirection, float maxRotation, const IKSettings &settings, const WeightFunction &weightFun=DefaultWeightFunction)
void	Twist (float angle, const IKSettings &settings)
Public Member Functions inherited from Urho3D::IKChain
void	Clear ()
void	AddNode (IKNode *node)
void	UpdateLengths ()
const IKNodeSegment *	FindSegment (const IKNode *node) const
ea::vector< IKNodeSegment > &	GetSegments ()
const ea::vector< IKNodeSegment > &	GetSegments () const
ea::vector< IKNode * > &	GetNodes ()
const ea::vector< IKNode * > &	GetNodes () const

Static Public Member Functions
static float	DefaultWeightFunction (float x)

Private Member Functions
void	UpdateSegmentWeights (const WeightFunction &weightFun)
template<class T>
void	EnumerateProjectedPositions (float totalRotation, const T &callback) const
ea::pair< float, Vector3 >	GetProjectionAndOffset (const Vector3 &target, const Vector3 &basePosition, const Vector3 &baseDirection) const
Vector2	ProjectTarget (const Vector3 &target, const Vector3 &basePosition, const Vector3 &baseDirection) const
Vector2	EvaluateProjectedEnd (float totalRotation) const
float	EvaluateError (float totalRotation, const Vector2 &target) const
float	FindBestAngle (const Vector2 &projectedTarget, float maxRotation, float angularTolerance) const
void	EvaluateSegmentPositions (float totalRotation, const Vector3 &baseDirection, const Vector3 &bendDirection)

Private Attributes
ea::vector< float >	weights_

Additional Inherited Members
Protected Member Functions inherited from Urho3D::IKChain
void	StorePreviousTransforms ()
void	RestorePreviousTransforms ()
void	UpdateSegmentRotations (const IKSettings &settings)
Protected Attributes inherited from Urho3D::IKChain
bool	isFirstSegmentIncomplete_ {}
ea::vector< IKNode * >	nodes_
ea::vector< IKNodeSegment >	segments_
float	totalLength_ {}

Detailed Description

Uniformly bending IK chain.

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

Public Types