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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 &inverseWorldTransform)
 
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.

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