ccd_ik_solver Class Reference

Cyclic Coordinate Descent (CCD) IK solver. More...

#include <ccd-ik-solver.hpp>

Inheritance diagram for ccd_ik_solver:

Public Member Functions
	ccd_ik_solver (ik_rig &ik_rig, bone_index_type root_bone_index, bone_index_type effector_bone_index)
	Constructs a CCD IK solver. More...
Solving
void	solve () override
	Sets the maximum number of solving iterations. More...
void	set_max_iterations (std::size_t iterations) noexcept
	Sets the maximum number of solving iterations. More...
std::size_t	get_max_iterations () const noexcept
	Returns the maximum number of solving iterations. More...
Effector
void	set_effector_position (const math::fvec3 &position) noexcept
	Sets the position of the end effector. More...
const math::fvec3 &	get_effector_position () const
	Returns the position of the end effector, relative to the tip bone. More...
Goal
void	set_goal_center (const math::fvec3 &center) noexcept
	Sets the center of the IK goal. More...
void	set_goal_radius (float radius) noexcept
	Sets the radius of the IK goal. More...
const math::fvec3 &	get_goal_center () const
	Returns the center of the IK goal, in world-space. More...

Detailed Description

Cyclic Coordinate Descent (CCD) IK solver.

Definition at line 32 of file ccd-ik-solver.hpp.

Constructor & Destructor Documentation

ccd_ik_solver()

ccd_ik_solver::ccd_ik_solver	(	ik_rig &	ik_rig,
		bone_index_type	root_bone_index,
		bone_index_type	effector_bone_index
	)

Constructs a CCD IK solver.

Parameters

ik_rig	IK rig with which to associate this IK solver.
root_bone_index	Index of the first bone in the bone chain.
effector_bone_index	Index of the last bone in the bone chain.
chain_length	Number of bones in the IK chain.

Definition at line 25 of file ccd-ik-solver.cpp.

Member Function Documentation

get_effector_position()

const math::fvec3& ccd_ik_solver::get_effector_position ( ) const

inline

Returns the position of the end effector, relative to the tip bone.

Definition at line 82 of file ccd-ik-solver.hpp.

get_goal_center()

const math::fvec3& ccd_ik_solver::get_goal_center ( ) const

inline

Returns the center of the IK goal, in world-space.

Definition at line 113 of file ccd-ik-solver.hpp.

get_max_iterations()

std::size_t ccd_ik_solver::get_max_iterations ( ) const

inlinenoexcept

Returns the maximum number of solving iterations.

Definition at line 61 of file ccd-ik-solver.hpp.

set_effector_position()

void ccd_ik_solver::set_effector_position ( const math::fvec3 &  position )

inlinenoexcept

Sets the position of the end effector.

Parameters

position

Position of the end effector, relative to the tip bone.

Definition at line 76 of file ccd-ik-solver.hpp.

set_goal_center()

void ccd_ik_solver::set_goal_center ( const math::fvec3 &  center )

inlinenoexcept

Sets the center of the IK goal.

Parameters

center

IK goal center, in world-space.

Definition at line 97 of file ccd-ik-solver.hpp.

set_goal_radius()

void ccd_ik_solver::set_goal_radius ( float  radius )

inlinenoexcept

Sets the radius of the IK goal.

Parameters

radius

IK goal radius.

Definition at line 107 of file ccd-ik-solver.hpp.

set_max_iterations()

void ccd_ik_solver::set_max_iterations ( std::size_t  iterations )

inlinenoexcept

Sets the maximum number of solving iterations.

Parameters

iterations

Maximum number of solving iterations.

Definition at line 55 of file ccd-ik-solver.hpp.

solve()

void ccd_ik_solver::solve ( )

overridevirtual

Sets the maximum number of solving iterations.

Parameters

iterations

Maximum number of solving iterations.

Implements ik_solver.

Definition at line 53 of file ccd-ik-solver.cpp.

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The documentation for this class was generated from the following files:

• ccd-ik-solver.hpp
• ccd-ik-solver.cpp