This IKSolver uses the Jacobian Transpose 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 solver uses an iterative algorithm. NumberOfIterations limits the maximal number allowed iterations. The algorithm ends early if the distance between the Target and the tip of the chain is less than AllowedDeviation. In each iteration, the solver computes "forces" that pull the tip of the bone chain to the target. It then makes an Euler integration step to move the bones as determined by the computed forces. StepSize determines the time step of the numeric integration. If this value is too large, the solver becomes unstable. If this value too small, the solver needs many iterations to reach the target. A good value for a specific application must be determined by experimentation.

Bone rotation limits:
Per default, the IKSolver assumes that the bones can rotate in any direction without rotation limits. If the bone rotations should be limited (e.g. "do not rotate about the y axis" or "do not rotate more than 45°"), then a LimitBoneTransforms callback must be set. The LimitBoneTransforms callback must be a method that checks the current bone rotations and removes any invalid rotations. See LimitBoneTransforms for more details.

See also IKSolver for more general information.

Caution:
This IK solver allocates heap memory and creates garbage. If garbage collector performance is important (e.g. on the Xbox 360 or Windows Phone 7), do not use this IK solver.

Reference