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IterateIK3D

Inherits: ChainIK3D < IKModifier3D < SkeletonModifier3D < Node3D < Node < Object

Inherited By: CCDIK3D, FABRIK3D, JacobianIK3D

A SkeletonModifier3D to approach the goal by repeating small rotations.

Description

Base class of SkeletonModifier3D to approach the goal by repeating small rotations.

Each bone chain (setting) has one effector, which is processed in order of the setting list. You can set some limitations for each joint.

Properties

float	angular_delta_limit	`0.034906585`
bool	deterministic	`false`
int	max_iterations	`4`
float	min_distance	`0.001`
int	setting_count	`0`

Methods

JointLimitation3D	get_joint_limitation(index: int, joint: int) const
SecondaryDirection	get_joint_limitation_right_axis(index: int, joint: int) const
Vector3	get_joint_limitation_right_axis_vector(index: int, joint: int) const
Quaternion	get_joint_limitation_rotation_offset(index: int, joint: int) const
RotationAxis	get_joint_rotation_axis(index: int, joint: int) const
Vector3	get_joint_rotation_axis_vector(index: int, joint: int) const
NodePath	get_target_node(index: int) const
void	set_joint_limitation(index: int, joint: int, limitation: JointLimitation3D)
void	set_joint_limitation_right_axis(index: int, joint: int, direction: SecondaryDirection)
void	set_joint_limitation_right_axis_vector(index: int, joint: int, vector: Vector3)
void	set_joint_limitation_rotation_offset(index: int, joint: int, offset: Quaternion)
void	set_joint_rotation_axis(index: int, joint: int, axis: RotationAxis)
void	set_joint_rotation_axis_vector(index: int, joint: int, axis_vector: Vector3)
void	set_target_node(index: int, target_node: NodePath)

Property Descriptions

float angular_delta_limit = 0.034906585 🔗

void set_angular_delta_limit(value: float)
float get_angular_delta_limit()

The maximum amount each bone can rotate in a single iteration.

Note: This limitation is applied during each iteration. For example, if max_iterations is 4 and angular_delta_limit is 5 degrees, the maximum rotation possible in a single frame is 20 degrees.

bool deterministic = false 🔗

void set_deterministic(value: bool)
bool is_deterministic()

If false, the result is calculated from the previous frame's IterateIK3D result as the initial state.

If true, the previous frame's IterateIK3D result is discarded. At this point, the new result is calculated from the bone pose excluding the IterateIK3D as the initial state. This means the result will be always equal as long as the target position and the previous bone pose are the same. However, if angular_delta_limit and max_iterations are set too small, the end bone of the chain will never reach the target.

int max_iterations = 4 🔗

void set_max_iterations(value: int)
int get_max_iterations()

The number of iteration loops used by the IK solver to produce more accurate results.

float min_distance = 0.001 🔗

void set_min_distance(value: float)
float get_min_distance()

The minimum distance between the end bone and the target. If the distance is below this value, the IK solver stops any further iterations.

int setting_count = 0 🔗

void set_setting_count(value: int)
int get_setting_count()

The number of settings.

Method Descriptions

JointLimitation3D get_joint_limitation(index: int, joint: int) const 🔗

Returns the joint limitation at joint in the bone chain's joint list.

SecondaryDirection get_joint_limitation_right_axis(index: int, joint: int) const 🔗

Returns the joint limitation right axis at joint in the bone chain's joint list.

Vector3 get_joint_limitation_right_axis_vector(index: int, joint: int) const 🔗

Returns the joint limitation right axis vector at joint in the bone chain's joint list.

If get_joint_limitation_right_axis() is SkeletonModifier3D.SECONDARY_DIRECTION_NONE, this method returns Vector3(0, 0, 0).

Quaternion get_joint_limitation_rotation_offset(index: int, joint: int) const 🔗

Returns the joint limitation rotation offset at joint in the bone chain's joint list.

Rotation is done in the local space which is constructed by the bone direction (in general parent to child) as the +Y axis and get_joint_limitation_right_axis_vector() as the +X axis.

If the +X and +Y axes are not orthogonal, the +X axis is implicitly modified to make it orthogonal.

Also, if the length of get_joint_limitation_right_axis_vector() is zero, the space is created by rotating the bone rest using the shortest arc that rotates the +Y axis of the bone rest to match the bone direction.

RotationAxis get_joint_rotation_axis(index: int, joint: int) const 🔗

Returns the rotation axis at joint in the bone chain's joint list.

Vector3 get_joint_rotation_axis_vector(index: int, joint: int) const 🔗

Returns the rotation axis vector for the specified joint in the bone chain. This vector represents the axis around which the joint can rotate. It is determined based on the rotation axis set for the joint.

If get_joint_rotation_axis() is SkeletonModifier3D.ROTATION_AXIS_ALL, this method returns Vector3(0, 0, 0).

NodePath get_target_node(index: int) const 🔗

Returns the target node that the end bone is trying to reach.

void set_joint_limitation(index: int, joint: int, limitation: JointLimitation3D) 🔗

Sets the joint limitation at joint in the bone chain's joint list.

void set_joint_limitation_right_axis(index: int, joint: int, direction: SecondaryDirection) 🔗

Sets the joint limitation right axis at joint in the bone chain's joint list.

void set_joint_limitation_right_axis_vector(index: int, joint: int, vector: Vector3) 🔗

Sets the optional joint limitation right axis vector at joint in the bone chain's joint list.

void set_joint_limitation_rotation_offset(index: int, joint: int, offset: Quaternion) 🔗

Sets the joint limitation rotation offset at joint in the bone chain's joint list.

Rotation is done in the local space which is constructed by the bone direction (in general parent to child) as the +Y axis and get_joint_limitation_right_axis_vector() as the +X axis.

If the +X and +Y axes are not orthogonal, the +X axis is implicitly modified to make it orthogonal.

Also, if the length of get_joint_limitation_right_axis_vector() is zero, the space is created by rotating the bone rest using the shortest arc that rotates the +Y axis of the bone rest to match the bone direction.

void set_joint_rotation_axis(index: int, joint: int, axis: RotationAxis) 🔗

Sets the rotation axis at joint in the bone chain's joint list.

The axes are based on the Skeleton3D.get_bone_rest()'s space, if axis is SkeletonModifier3D.ROTATION_AXIS_CUSTOM, you can specify any axis.

Note: The rotation axis and the forward vector shouldn't be colinear to avoid unintended rotation since ChainIK3D does not factor in twisting forces.

void set_joint_rotation_axis_vector(index: int, joint: int, axis_vector: Vector3) 🔗

Sets the rotation axis vector for the specified joint in the bone chain.

This vector is normalized by an internal process and represents the axis around which the bone chain can rotate.

If the vector length is 0, it is considered synonymous with SkeletonModifier3D.ROTATION_AXIS_ALL.

void set_target_node(index: int, target_node: NodePath) 🔗

Sets the target node that the end bone is trying to reach.