The methods on this interface allow to move the manikin in inverse kinematics.
Properties
- Property Behavior() As
- Returns or sets the IK behaviors for this manikin. The string in this property is the concatenation of the current IK behaviors, like "Thoracic/Lumbar/Balance".
- Property Manikin() As (Read Only)
- Returns the manikin which owns this IK manager.
- Property NumberOfConstraints() As (Read Only)
- Returns the total number of constraints on the manikin.
Methods
- Func AddConstraint( piEndEffector) As
-
Add a constraint with the given end effector.
- Parameters:
-
- piEndEffector
- The short name of the last segment (the end of the chain, i.e. the end effector).
- poConstraint
- The constraint created.
- Sub AddConstraintFrom( piConstraintFrom, poCreatedConstraint)
-
Add a new constraint identical to the one given.
- Parameters:
-
- piConstraintFrom
- The constraint to copy.
- poCreatedConstraint
- The new constraint
- Func GetConstraint( piIndex) As
-
Returns the constraint at index piIndex.
First element is at index
0. - Sub RemoveAllConstraints()
- Remove all existing constraints on the manikin.
- Sub RemoveConstraint( piConstraintToRemove)
-
Remove the given constraint.
- Parameters:
-
- piConstraintToRemove
- The constraint to remove.
- Sub Resolve()
-
Launch the IK solver to minimize the potential functions of
the constraints (i.e. reach all defined targets).
Will resolve the constraints for this manikin only.