Urho3D::IKNode Struct Reference

#include <Urho3D/Math/InverseKinematics.h>

Public Member Functions
	IKNode (const Vector3 &position, const Quaternion &rotation)
void	SetOriginalTransform (const Vector3 &position, const Quaternion &rotation, const Matrix3x4 &worldTransform)
void	UpdateOriginalTransform (const Matrix3x4 &worldTransform)
void	RotateAround (const Vector3 &point, const Quaternion &rotation)
void	ResetOriginalTransform ()
void	StorePreviousTransform ()
void	MarkPositionDirty ()
void	MarkRotationDirty ()

Public Attributes
Vector3	localOriginalPosition_
Quaternion	localOriginalRotation_
Vector3	originalPosition_
Quaternion	originalRotation_
Vector3	previousPosition_
Quaternion	previousRotation_
Vector3	position_
Quaternion	rotation_
bool	positionDirty_ {}
bool	rotationDirty_ {}

Detailed Description

Singular node of the IK chain. Node should be used only once within a chain. However, node may belong to multiple independet chains. Positions and rotations are in world space.

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

• Urho3D/Math/InverseKinematics.h
• Urho3D/Math/InverseKinematics.cpp