IKSolverAim Class Reference

Rotates a hierarchy of bones to make a Transform aim at a target. If there are problems with continuity and the solver get's jumpy, make sure to keep IKPosition at a safe distance from the transform and try decreasing solver and bone weights. More...

Inheritance diagram for IKSolverAim:

Collaboration diagram for IKSolverAim:

Public Member Functions
float	GetAngle ()
	Gets the angular offset. More...
Public Member Functions inherited from IKSolverHeuristic
bool	SetChain (Transform[] hierarchy, Transform root)
	Rebuild the bone hierarcy and reinitiate the solver. More...
void	AddBone (Transform bone)
	Adds a bone to the chain. 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...
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
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...

Public Attributes
Transform	transform
	The transform that we want to aim at IKPosition. More...
Vector3	axis = Vector3.forward
	The local axis of the Transform that you want to be aimed at IKPosition. More...
Vector3	poleAxis = Vector3.up
	Keeps that axis of the Aim Transform directed at the polePosition. More...
Vector3	polePosition
	The position in world space to keep the pole axis of the Aim Transform directed at. More...
float	poleWeight
	The weight of the Pole. More...
Transform	poleTarget
	If assigned, will automatically set polePosition to the position of this Transform. More...
float	clampWeight = 0.1f
	Clamping rotation of the solver. 0 is free rotation, 1 is completely clamped to transform axis. More...
int	clampSmoothing = 2
	Number of sine smoothing iterations applied to clamping to make it smoother. More...
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 existing) will be applied on each iteration. More...
bool	XY
	Solve in 2D? 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 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...

Properties
Vector3	transformAxis [get]
	Gets the Axis of the AimTransform is world space. More...
Vector3	transformPoleAxis [get]
	Gets the Pole Axis of the AimTransform is world space. More...

Additional Inherited Members
Static Public Member Functions inherited from IKSolver
static Transform	ContainsDuplicateBone (Bone[] bones)
	Checks if an array of objects contains any duplicates. More...

Detailed Description

Rotates a hierarchy of bones to make a Transform aim at a target. If there are problems with continuity and the solver get's jumpy, make sure to keep IKPosition at a safe distance from the transform and try decreasing solver and bone weights.