ClosedFormIKSolver Class

Modifies a skeleton using a non-iterative, closed-form IK solver.

Inheritance Hierarchy

SystemObject
DigitalRune.Animation.CharacterIKSolver
DigitalRune.Animation.CharacterClosedFormIKSolver

Namespace: DigitalRune.Animation.Character
Assembly: DigitalRune.Animation (in DigitalRune.Animation.dll) Version: 1.4.0.0 (1.4.1.14427)

Syntax

C++

Copy

public class ClosedFormIKSolver : IKSolver

Public Class ClosedFormIKSolver
	Inherits IKSolver

public ref class ClosedFormIKSolver : public IKSolver

type ClosedFormIKSolver =  
    class
        inherit IKSolver
    end

The ClosedFormIKSolver type exposes the following members.

Constructors

	Name	Description
	ClosedFormIKSolver	Initializes a new instance of the ClosedFormIKSolver class

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Methods

	Name	Description
	Equals	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	Finalize	Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object.)
	GetHashCode	Serves as a hash function for a particular type. (Inherited from Object.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	MemberwiseClone	Creates a shallow copy of the current Object. (Inherited from Object.)
	OnInvalidate	Called when the SkeletonPose was exchanged. (Overrides IKSolverOnInvalidate.)
	OnSolve	Called when Solve(Single) is called. (Overrides IKSolverOnSolve(Single).)
	Solve	Modifies the SkeletonPose to reach the Target position. (Inherited from IKSolver.)
	ToString	Returns a string that represents the current object. (Inherited from Object.)

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Properties

	Name	Description
	MaxAngularVelocity	Gets or sets the maximal angular velocity per bone. (Inherited from IKSolver.)
	RootBoneIndex	Gets or sets the index of the root bone.
	SkeletonPose	Gets or sets the skeleton pose. (Inherited from IKSolver.)
	Target	Gets or sets the target position in model space. (Inherited from IKSolver.)
	TipBoneIndex	Gets or sets the index of the tip bone.
	TipOffset	Gets or sets the tip offset in tip bone space.
	Weight	Gets or sets the weight. (Inherited from IKSolver.)

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Explicit Interface Implementations

	Name	Description
	IAnimatableObjectGetAnimatablePropertyT	Gets the property with given name and type which can be animated. (Inherited from IKSolver.)
	IAnimatableObjectGetAnimatedProperties	Gets the properties which are currently being animated. (Inherited from IKSolver.)
	INamedObjectName	Not implemented. (Inherited from IKSolver.)

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Remarks

This IKSolver uses non-iterative, closed-form IK solver algorithm to modify a bone chain to reach the Target position. RootBoneIndex determines the first bone in the chain. TipBoneIndex determines the last bone that is included in the chain. This IK solver rotates all bones in the chain, so that the tip of the bone chain reaches the Target position.

This IK solver does not support bone rotation limits.

See also IKSolver for more general information.

Reference

DigitalRune.Animation.Character Namespace