Trigonometric two-segment IK chain. More...

#include <Urho3D/Math/InverseKinematics.h>

Public Member Functions
void	Initialize (IKNode node1, IKNode node2, IKNode *node3)
void	UpdateLengths ()
void	Solve (const Vector3 &target, const Vector3 &originalDirection, const Vector3 &currentDirection, float minAngle, float maxAngle)
IKNode *	GetBeginNode () const
IKNode *	GetMiddleNode () const
IKNode *	GetEndNode () const
float	GetFirstLength () const
float	GetSecondLength () const
Quaternion	GetCurrentChainRotation () const

Static Public Member Functions
static Quaternion	CalculateRotation (const Vector3 &originalPos0, const Vector3 &originalPos2, const Vector3 &originalDirection, const Vector3 &currentPos0, const Vector3 &currentPos2, const Vector3 &currentDirection)
	Return rotation of the entire chain.
static ea::pair< Vector3, Vector3 >	Solve (const Vector3 &pos0, float len01, float len12, const Vector3 &target, const Vector3 &bendDirection, float minAngle, float maxAngle)
	Return positions of second and third bones.

Private Member Functions
void	ResetChainToOriginal ()

Detailed Description

Trigonometric two-segment IK chain.

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

Public Member Functions