IKSolverTrigonometric Class Reference

Analytic IK solver based on the Law of Cosines. More...

Inheritance diagram for IKSolverTrigonometric:

Collaboration diagram for IKSolverTrigonometric:

Classes
class	TrigonometricBone
	Bone type used by IKSolverTrigonometric. More...

Public Member Functions
void	SetBendGoalPosition (Vector3 goalPosition, float weight)
	Sets the bend goal position. More...
void	SetBendPlaneToCurrent ()
	Sets the bend plane to match current bone rotations. More...
void	SetIKRotation (Quaternion rotation)
	Sets the IK rotation. More...
void	SetIKRotationWeight (float weight)
	Sets the IK rotation weight. More...
Quaternion	GetIKRotation ()
	Gets the IK rotation. More...
float	GetIKRotationWeight ()
	Gets the IK rotation weight. 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...
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 (ref string message)
	Determines whether this instance is valid or not. If returns false, also fills in an error message. More...
bool	SetChain (Transform bone1, Transform bone2, Transform bone3, Transform root)
	Reinitiate the solver with new bone Transforms. More...
Public Member Functions inherited from IKSolver
bool	IsValid ()
	Determines whether this instance is valid or not. More...
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...
virtual 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 void	Solve (Transform bone1, Transform bone2, Transform bone3, Vector3 targetPosition, Vector3 bendNormal, float weight)
	Solve the bone chain. More...
Static Public Member Functions inherited from IKSolver
static Transform	ContainsDuplicateBone (Bone[] bones)
	Checks if an array of objects contains any duplicates. More...

Public Attributes
Transform	target
	The target Transform. More...
float	IKRotationWeight = 1f
	The IK rotation weight (rotation of the last bone). More...
Quaternion	IKRotation = Quaternion.identity
	The IK rotation target. More...
Vector3	bendNormal = Vector3.right
	The bend plane normal. More...
TrigonometricBone	bone1 = new TrigonometricBone()
	The first bone (upper arm or thigh). More...
TrigonometricBone	bone2 = new TrigonometricBone()
	The second bone (forearm or calf). More...
TrigonometricBone	bone3 = new TrigonometricBone()
	The third bone (hand or foot). More...
Public Attributes inherited from IKSolver
Vector3	IKPosition
	The IK position. More...
float	IKPositionWeight = 1f
	The IK position weight or the master weight of the solver. 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

Analytic IK solver based on the Law of Cosines.