Trigonometric two-segment IK chain.
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#include <Urho3D/Math/InverseKinematics.h>
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void | Initialize (IKNode *node1, IKNode *node2, IKNode *node3) |
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void | UpdateLengths () |
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void | Solve (const Vector3 &target, const Vector3 &originalDirection, const Vector3 ¤tDirection, float minAngle, float maxAngle) |
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IKNode * | GetBeginNode () const |
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IKNode * | GetMiddleNode () const |
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IKNode * | GetEndNode () const |
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float | GetFirstLength () const |
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float | GetSecondLength () const |
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Quaternion | GetCurrentChainRotation () const |
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static Quaternion | CalculateRotation (const Vector3 &originalPos0, const Vector3 &originalPos2, const Vector3 &originalDirection, const Vector3 ¤tPos0, const Vector3 ¤tPos2, const Vector3 ¤tDirection) |
| Return rotation of the entire chain.
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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.
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void | ResetChainToOriginal () |
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Trigonometric two-segment IK chain.
The documentation for this class was generated from the following files:
- Urho3D/Math/InverseKinematics.h
- Urho3D/Math/InverseKinematics.cpp