Low-LoD Full-Body IK

Module description

This page details the functions used to perform full-body IK solving for a character with a low level of detail.

See also Solving at a Lower Level of Detail.

Functions
void	HIKSolveForEffectorSetArmsAndLegsLowLOD (const HIKCharacter *pCharacter, HIKCharacterState *pCharacterState, const HIKEffectorSetState *pEffectorSetState, const HIKPropertySetState *pPropertyState)
	Call the IK solver for the arms, legs and shoulders of character pCharacter. More...
void	HIKSolveForEffectorSetBeginLowLOD (const HIKCharacter *pCharacter, HIKCharacterState *pCharacterState, const HIKEffectorSetState *pEffectorSetState, const HIKPropertySetState *pPropertyState)
	Prepare the solving for character pCharacter. More...
void	HIKSolveForEffectorSetBodyPullLowLOD (const HIKCharacter *pCharacter, HIKCharacterState *pCharacterState, const HIKEffectorSetState *pEffectorSetState, const HIKPropertySetState *pPropertyState)
	Call only the pull engine for character pCharacter. More...
void	HIKSolveForEffectorSetLowLOD (const HIKCharacter *pCharacter, HIKCharacterState *pCharacterState, HIKEffectorSetState *pEffectorSetState, const HIKPropertySetState *pPropertyState)
	Solve character pCharacter with HIKEffectorSetState pEffectorSetState and HIKCharacterState pCharacterState, result will be in pCharacterState. More...

Function Documentation

void HIKSolveForEffectorSetArmsAndLegsLowLOD	(	const HIKCharacter *	pCharacter,
		HIKCharacterState *	pCharacterState,
		const HIKEffectorSetState *	pEffectorSetState,
		const HIKPropertySetState *	pPropertyState
	)

Call the IK solver for the arms, legs and shoulders of character pCharacter.

Parameters

	pCharacter	HIKCharacter to solve.
[in,out]	pCharacterState	HIKCharacterState containing the initial FK pose of the character, which will influence the IK solution.
	pEffectorSetState	HIKEffectorSetState containing the target positions, orientations, and constraints for the IK solution.
	pPropertyState	HIKPropertySetState containing all character properties to be used by the solver.

void HIKSolveForEffectorSetBeginLowLOD	(	const HIKCharacter *	pCharacter,
		HIKCharacterState *	pCharacterState,
		const HIKEffectorSetState *	pEffectorSetState,
		const HIKPropertySetState *	pPropertyState
	)

Prepare the solving for character pCharacter.

Parameters

	pCharacter	HIKCharacter to solve.
[in,out]	pCharacterState	HIKCharacterState containing the initial FK pose of the character, which will influence the IK solution.
	pEffectorSetState	HIKEffectorSetState containing the target positions, orientations, and constraints for the IK solution.
	pPropertyState	HIKPropertySetState containing all character properties to be used by the solver.

void HIKSolveForEffectorSetBodyPullLowLOD	(	const HIKCharacter *	pCharacter,
		HIKCharacterState *	pCharacterState,
		const HIKEffectorSetState *	pEffectorSetState,
		const HIKPropertySetState *	pPropertyState
	)

Call only the pull engine for character pCharacter.

Parameters

	pCharacter	HIKCharacter to solve.
[in,out]	pCharacterState	HIKCharacterState containing the initial FK pose of the character, which will influence the IK solution.
	pEffectorSetState	HIKEffectorSetState containing the target positions, orientations, and constraints for the IK solution.
	pPropertyState	HIKPropertySetState containing all character properties to be used by the solver.

void HIKSolveForEffectorSetLowLOD	(	const HIKCharacter *	pCharacter,
		HIKCharacterState *	pCharacterState,
		HIKEffectorSetState *	pEffectorSetState,
		const HIKPropertySetState *	pPropertyState
	)

Solve character pCharacter with HIKEffectorSetState pEffectorSetState and HIKCharacterState pCharacterState, result will be in pCharacterState.

You can enable/disable solvers by setting solving step in the HIKEffectorSetState pEffectorSetState with a function call to HIKSetIKSolvingStep().

Parameters

	pCharacter	HIKCharacter to solve.
[in,out]	pCharacterState	HIKCharacterState containing the initial FK pose of the character, which will influence the IK solution.
	pEffectorSetState	HIKEffectorSetState containing the target positions, orientations, and constraints for the IK solution.
	pPropertyState	HIKPropertySetState containing all character properties to be used by the solver.