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IKSolverFABRIK Class Reference

Forward and Backward Reaching Inverse Kinematics solver. More...

Inheritance diagram for IKSolverFABRIK:
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Collaboration diagram for IKSolverFABRIK:
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Public Member Functions

void SolveForward (Vector3 position)
 Solving stage 1 of the FABRIK algorithm. More...
 
void SolveBackward (Vector3 position)
 Solving stage 2 of the FABRIK algorithm. More...
 
- Public Member Functions inherited from IKSolverHeuristic
bool SetChain (Transform[] hierarchy, Transform root)
 Rebuild the bone hierarcy and reinitiate the solver. More...
 
override void StoreDefaultLocalState ()
 Stores the default local state for the bones used by the solver. More...
 
override void FixTransforms ()
 Fixes all the Transforms used by the solver to their initial state. More...
 
override bool IsValid (bool log)
 Determines whether this instance is valid or not. If log == true, will log a warning message in case of an invalid solver. More...
 
override IKSolver.Point[] GetPoints ()
 Gets all the points used by the solver. More...
 
override IKSolver.Point GetPoint (Transform transform)
 Gets the point with the specified Transform. More...
 
- Public Member Functions inherited from IKSolver
void Initiate (Transform root)
 Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component. More...
 
void Update ()
 Updates the IK solver. Use only if this IKSolver is not a member of an IK component or the IK component has been disabled and you intend to manually control the updating. More...
 
Vector3 GetIKPosition ()
 Gets the IK position. NOTE: You are welcome to read IKPosition directly, this method is here only to match the Unity's built in IK API. More...
 
void SetIKPosition (Vector3 position)
 Sets the IK position. NOTE: You are welcome to set IKPosition directly, this method is here only to match the Unity's built in IK API. More...
 
float GetIKPositionWeight ()
 Gets the IK position weight. NOTE: You are welcome to read IKPositionWeight directly, this method is here only to match the Unity's built in IK API. More...
 
void SetIKPositionWeight (float weight)
 Sets the IK position weight. NOTE: You are welcome to set IKPositionWeight directly, this method is here only to match the Unity's built in IK API. More...
 
Transform GetRoot ()
 Gets the root Transform. More...
 
delegate void UpdateDelegate ()
 Delegates solver update events. More...
 
delegate void IterationDelegate (int i)
 Delegates solver iteration events. More...
 

Static Public Member Functions

static Vector3 SolveJoint (Vector3 pos1, Vector3 pos2, float length)
 Interpolates the joint position to match the bone's length More...
 

Public Attributes

IterationDelegate OnPreIteration
 Called before each iteration of the solver. More...
 
- Public Attributes inherited from IKSolverHeuristic
Transform target
 The target Transform. Solver IKPosition will be automatically set to the position of the target. More...
 
float tolerance = 0f
 Minimum distance from last reached position. Will stop solving if difference from previous reached position is less than tolerance. If tolerance is zero, will iterate until maxIterations. More...
 
int maxIterations = 4
 Max iterations per frame More...
 
bool useRotationLimits = true
 If true, rotation limits (if excisting) will be applied on each iteration. More...
 
Bone[] bones = new Bone[0]
 The hierarchy of bones. More...
 
- Public Attributes inherited from IKSolver
Vector3 IKPosition
 The IK position. More...
 
float IKPositionWeight = 1f
 The IK position weight. More...
 
UpdateDelegate OnPreInitiate
 Called before initiating the solver. More...
 
UpdateDelegate OnPostInitiate
 Called after initiating the solver. More...
 
UpdateDelegate OnPreUpdate
 Called before updating. More...
 
UpdateDelegate OnPostUpdate
 Called after writing the solved pose More...
 

Additional Inherited Members

- Properties inherited from IKSolver
bool initiated [get, set]
 Gets a value indicating whether this IKSolver has successfully initiated. More...
 

Detailed Description

Forward and Backward Reaching Inverse Kinematics solver.

This class is based on the "FABRIK: A fast, iterative solver for the inverse kinematics problem." paper by Aristidou, A., Lasenby, J.