#include <stddef.h>

File Description

Main header file for HumanIK.

This file contains the HumanIK retargeting and full-body IK solvers.

Classes
struct	HIKCharacterDefinition
	Defines which Nodes are to be used by an HIKCharacter. More...

struct	HIKDataDescription
	A description of a data set that contains separate translation, quaternion rotation, and scaling values for multiple different Nodes in an HIKCharacterState. More...

struct	HIKDataDescriptionMatrix
	A description of a data set that contains transform matrices for multiple different Nodes in an HIKCharacterState. More...

struct	HIKEffectorDataDescription
	A description of a data set that contains separate translation, quaternion rotation, and scaling values for multiple Effectors in an HIKEffectorSetState. More...

struct	HIKEffectorDataDescriptionMatrix
	A description of a data set that contains transform matrices for multiple different Effectors in an HIKEffectorSetState. More...

Typedefs
typedef enum HIKMiddleJoint	eHIKMiddleJoint

typedef enum HIKRotationOrder	eHIKRotationOrder

typedef enum HIKToken	eHIKToken

typedef void(*	HIKFree) (void *)

typedef void (	HIKMalloc) (size_t)

Enumerations
enum	HIKEffectorId { HipsEffectorId = 0, LeftAnkleEffectorId, RightAnkleEffectorId, LeftWristEffectorId, RightWristEffectorId, LeftKneeEffectorId, RightKneeEffectorId, LeftElbowEffectorId, RightElbowEffectorId, ChestOriginEffectorId, ChestEndEffectorId, LeftFootEffectorId, RightFootEffectorId, LeftShoulderEffectorId, RightShoulderEffectorId, HeadEffectorId, LeftHipEffectorId, RightHipEffectorId, LeftHandEffectorId, RightHandEffectorId, LeftHandThumbEffectorId, LeftHandIndexEffectorId, LeftHandMiddleEffectorId, LeftHandRingEffectorId, LeftHandPinkyEffectorId, LeftHandExtraFingerEffectorId, RightHandThumbEffectorId, RightHandIndexEffectorId, RightHandMiddleEffectorId, RightHandRingEffectorId, RightHandPinkyEffectorId, RightHandExtraFingerEffectorId, LeftFootThumbEffectorId, LeftFootIndexEffectorId, LeftFootMiddleEffectorId, LeftFootRingEffectorId, LeftFootPinkyEffectorId, LeftFootExtraFingerEffectorId, RightFootThumbEffectorId, RightFootIndexEffectorId, RightFootMiddleEffectorId, RightFootRingEffectorId, RightFootPinkyEffectorId, RightFootExtraFingerEffectorId, LastEffectorId }
	Lists all Effectors used by HumanIK as goal points for IK solving. More...

enum	HIKFloorContact { HIKLeftHandFloor =0, HIKRightHandFloor, HIKLeftFootFloor, HIKRightFootFloor, HIKLastFloorId }
	Lists the surfaces that can be controlled by the floor contact engine. More...

enum	HIKLimitActiveMask { HIKActiveMinX = 1 << 0, HIKActiveMinY = 1 << 1, HIKActiveMinZ = 1 << 2, HIKActiveMaxX = 1 << 3, HIKActiveMaxY = 1 << 4, HIKActiveMaxZ = 1 << 5 }
	Lists the possible types of limits that can be activated for a Node. See HIKSetMinXYZRotationfv(), HIKSetMaxXYZRotationfv(), and HIKSetLimitsfv(). More...

enum	HIKMiddleJoint { HIKLeftKnee = 0, HIKRightKnee, HIKLeftElbow, HIKRightElbow }
	Lists the joints that can be inverted using the HIKInverseJoint() function. More...

enum	HIKNodeFlags { HIKNodeNotUsed = 0, HIKNodeUsed = 1 << 0, HIKNodeParentOffset = 1 << 1 \| HIKNodeUsed, HIKNodeLimits = 1 << 2 \| HIKNodeParentOffset, HIKNodeIsLeafRoll = 1 << 3 }
	Flags used in the characterization process, in conjunction with HIKCharacterDefinition. More...

enum	HIKNodeId { ReferenceNodeId = 0, HipsNodeId, LeftHipNodeId, LeftKneeNodeId, LeftAnkleNodeId, RightHipNodeId, RightKneeNodeId, RightAnkleNodeId, WaistNodeId, LeftShoulderNodeId, LeftElbowNodeId, LeftWristNodeId, RightShoulderNodeId, RightElbowNodeId, RightWristNodeId, HeadNodeId, LeftFootNodeId, RightFootNodeId, LeftCollarNodeId, RightCollarNodeId, NeckNodeId, LeftHandNodeId, RightHandNodeId, Spine1NodeId, Spine2NodeId, Spine3NodeId, Spine4NodeId, Spine5NodeId, Spine6NodeId, Spine7NodeId, Spine8NodeId, Spine9NodeId, Neck1NodeId, Neck2NodeId, Neck3NodeId, Neck4NodeId, Neck5NodeId, Neck6NodeId, Neck7NodeId, Neck8NodeId, Neck9NodeId, LeftHipRollNodeId, LeftKneeRollNodeId, RightHipRollNodeId, RightKneeRollNodeId, LeftShoulderRollNodeId, LeftElbowRollNodeId, RightShoulderRollNodeId, RightElbowRollNodeId, HipsTranslationId, LeftThumbANodeId, LeftThumbBNodeId, LeftThumbCNodeId, LeftThumbDNodeId, LeftIndexANodeId, LeftIndexBNodeId, LeftIndexCNodeId, LeftIndexDNodeId, LeftMiddleANodeId, LeftMiddleBNodeId, LeftMiddleCNodeId, LeftMiddleDNodeId, LeftRingANodeId, LeftRingBNodeId, LeftRingCNodeId, LeftRingDNodeId, LeftPinkyANodeId, LeftPinkyBNodeId, LeftPinkyCNodeId, LeftPinkyDNodeId, LeftExtraFingerANodeId, LeftExtraFingerBNodeId, LeftExtraFingerCNodeId, LeftExtraFingerDNodeId, RightThumbANodeId, RightThumbBNodeId, RightThumbCNodeId, RightThumbDNodeId, RightIndexANodeId, RightIndexBNodeId, RightIndexCNodeId, RightIndexDNodeId, RightMiddleANodeId, RightMiddleBNodeId, RightMiddleCNodeId, RightMiddleDNodeId, RightRingANodeId, RightRingBNodeId, RightRingCNodeId, RightRingDNodeId, RightPinkyANodeId, RightPinkyBNodeId, RightPinkyCNodeId, RightPinkyDNodeId, RightExtraFingerANodeId, RightExtraFingerBNodeId, RightExtraFingerCNodeId, RightExtraFingerDNodeId, LeftFootThumbANodeId, LeftFootThumbBNodeId, LeftFootThumbCNodeId, LeftFootThumbDNodeId, LeftFootIndexANodeId, LeftFootIndexBNodeId, LeftFootIndexCNodeId, LeftFootIndexDNodeId, LeftFootMiddleANodeId, LeftFootMiddleBNodeId, LeftFootMiddleCNodeId, LeftFootMiddleDNodeId, LeftFootRingANodeId, LeftFootRingBNodeId, LeftFootRingCNodeId, LeftFootRingDNodeId, LeftFootPinkyANodeId, LeftFootPinkyBNodeId, LeftFootPinkyCNodeId, LeftFootPinkyDNodeId, LeftExtraFootFingerANodeId, LeftExtraFootFingerBNodeId, LeftExtraFootFingerCNodeId, LeftExtraFootFingerDNodeId, RightFootThumbANodeId, RightFootThumbBNodeId, RightFootThumbCNodeId, RightFootThumbDNodeId, RightFootIndexANodeId, RightFootIndexBNodeId, RightFootIndexCNodeId, RightFootIndexDNodeId, RightFootMiddleANodeId, RightFootMiddleBNodeId, RightFootMiddleCNodeId, RightFootMiddleDNodeId, RightFootRingANodeId, RightFootRingBNodeId, RightFootRingCNodeId, RightFootRingDNodeId, RightFootPinkyANodeId, RightFootPinkyBNodeId, RightFootPinkyCNodeId, RightFootPinkyDNodeId, RightExtraFootFingerANodeId, RightExtraFootFingerBNodeId, RightExtraFootFingerCNodeId, RightExtraFootFingerDNodeId, LeftThumbInNodeId, LeftIndexInNodeId, LeftMiddleInNodeId, LeftRingInNodeId, LeftPinkyInNodeId, LeftExtraFingerInNodeId, RightThumbInNodeId, RightIndexInNodeId, RightMiddleInNodeId, RightRingInNodeId, RightPinkyInNodeId, RightExtraFingerInNodeId, LeftFootThumbInNodeId, LeftFootIndexInNodeId, LeftFootMiddleInNodeId, LeftFootRingInNodeId, LeftFootPinkyInNodeId, LeftExtraFootFingerInNodeId, RightFootThumbInNodeId, RightFootIndexInNodeId, RightFootMiddleInNodeId, RightFootRingInNodeId, RightFootPinkyInNodeId, RightExtraFootFingerInNodeId, LeftCollarExtraNodeId, RightCollarExtraNodeId, LastNodeId }
	Lists all Nodes known to HumanIK, used to set up and access data for HIKCharacters. More...

enum	HIKRotationOrder { HIKOrderEulerXYZ = 0, HIKOrderEulerXYX, HIKOrderEulerXZY, HIKOrderEulerXZX, HIKOrderEulerYZX, HIKOrderEulerYZY, HIKOrderEulerYXZ, HIKOrderEulerYXY, HIKOrderEulerZXY, HIKOrderEulerZXZ, HIKOrderEulerZYX, HIKOrderEulerZYZ, HIKOrderSphericXYZ }
	Lists the possible rotation orders for the values set in the HIKSetRotationOrder() function. More...

enum	HIKSolvingStep { HIKSolvingStepBodyPull = 1 << 0, HIKSolvingStepContact = 1 << 1, HIKSolvingStepContactApprox = 1 << 2, HIKSolvingStepLeftShoulder = 1 << 3, HIKSolvingStepRightShoulder = 1 << 4, HIKSolvingStepLeftArm = 1 << 5, HIKSolvingStepRightArm = 1 << 6, HIKSolvingStepLeftLeg = 1 << 7, HIKSolvingStepRightLeg = 1 << 8, HIKSolvingStepLeftHand = 1 << 9, HIKSolvingStepRightHand = 1 << 10, HIKSolvingStepLeftFoot = 1 << 11, HIKSolvingStepRightFoot = 1 << 12, HIKSolvingStepHead = 1 << 13, HIKSolvingStepSpine = 1 << 14, HIKSolvingStepHipsTranslation = 1 << 15, HIKSolvingStepRollExtraction = 1 << 16, HIKSolvingStepLeftArmSnS = 1 << 17, HIKSolvingStepRightArmSnS = 1 << 18, HIKSolvingStepLeftLegSnS = 1 << 19, HIKSolvingStepRightLegSnS = 1 << 20, HIKSolvingStepModifiers = 1 << 21, HIKSolvingStepAllParts, HIKSolvingStepAll = HIKSolvingStepBodyPull \| HIKSolvingStepContact \| HIKSolvingStepContactApprox \| HIKSolvingStepAllParts \| HIKSolvingStepHipsTranslation \| HIKSolvingStepRollExtraction \| HIKSolvingStepModifiers }
	Lists the solving steps supported by the IK solver. Used when setting the solving steps that the solver should perform. See HIKSetIKSolvingStep() and HIKGetIKSolvingStep(). More...

enum	HIKToken { HIKNotUsed = -1, HIKLastNode = -2 }
	Lists special values that you can use within the list of Node IDs in a data description. See HIKDataDescription. More...

Functions
void	HIKAddQuadripedOffset (const HIKCharacter pCharacter, HIKCharacterState pCharacterState)
	Add quadruped offsets to HIKCharacterState `pCharacterState`. More...

HIKCharacter *	HIKCharacterCreate (const HIKCharacterDefinition pCharacterDefinition, HIKMalloc pMalloc, const char pValidationString)
	Create a new HIKCharacter. More...

HIKCharacter *	HIKCharacterCreateInPlace (const HIKCharacterDefinition pCharacterDefinition, void pBuffer, const char *pValidationString)
	Create a new HIKCharacter in the buffer `pBuffer`. More...

size_t	HIKCharacterDefinitionSize (const HIKCharacterDefinition *pCharacterDefinition)
	Returns the size in bytes required by an HIKCharacter based on HIKCharacterDefinition `pCharacterDefinition`. More...

void	HIKCharacterDestroy (HIKCharacter *pCharacter, HIKFree pFree)
	Destroy HIKCharacter `pCharacter`. More...

bool	HIKCharacterizeGeometry (HIKCharacter *pCharacter)
	Set up and initialize character `pCharacter` for solving. More...

size_t	HIKCharacterSize (const HIKCharacter *pCharacter)
	Returns the size of HIKCharacter `pCharacter` in bytes. More...

HIKCharacterState *	HIKCharacterStateCreate (const HIKCharacter *pCharacter, HIKMalloc pMalloc)
	Create a new HIKCharacterState. More...

HIKCharacterState *	HIKCharacterStateCreateInPlace (const HIKCharacter pCharacter, void pBuffer)
	Create a new HIKCharacterState in the buffer `pBuffer`. More...

void	HIKCharacterStateDestroy (HIKCharacterState *pCharacterState, HIKFree pFree)
	Destroy HIKCharacterState `pCharacterState`. More...

size_t	HIKCharacterStateSize (const HIKCharacter *pCharacter)
	Returns the size in bytes required by any HIKCharacterState that defines a pose for HIKCharacter `pCharacter`. All HIKCharacterStates for a given character are always the same size. More...

size_t	HIKCharacterStateSizeFromDefinition (const HIKCharacterDefinition *pCharacterDefinition)
	Returns the size in bytes required by any HIKCharacterState that defines a pose for an HIKCharacter based on HIKCharacterDefinition `pCharacterDefinition`. More...

size_t	HIKCharacterStateSizeFromState (const HIKCharacterState *pCharacterState)
	Returns the size of HIKCharacterState `pCharacterState` in bytes. All HIKCharacterStates for a given character are always the same size. More...

int	HIKEffectorIdFromEffectorName (const char *pName)
	Retrieve the Effector ID from a descriptive name. This is a utility function that maps between FBX and HIK. More...

const char *	HIKEffectorNameFromEffectorId (int pEffectorId)
	Retrieve a descriptive name for Effector `pEffectorId`. This is a utility function that maps between FBX and HIK. More...

void	HIKEffectorSetFromCharacter (const HIKCharacter pCharacter, HIKEffectorSetState pEffectorSetState, const HIKCharacterState pCharacterState, const HIKPropertySetState pPropertyState)
	Set up HIKEffectorSetState `pEffectorSetState` to match character `pCharacter` in HIKCharacterState `pCharacterState`. More...

HIKEffectorSetState *	HIKEffectorSetStateCreate (HIKMalloc pMalloc)
	Create a new HIKEffectorSetState. More...

HIKEffectorSetState *	HIKEffectorSetStateCreateInPlace (void *pBuffer)
	Create a new HIKEffectorSetState in the buffer `pBuffer`. More...

void	HIKEffectorSetStateDestroy (HIKEffectorSetState *pESetState, HIKFree pFree)
	Destroy HIKEffectorSetState `pESetState`. More...

size_t	HIKEffectorSetStateSize ()
	Return the size of an HIKEffectorSetState object in bytes. More...

void	HIKEulerFromQuat (const float quat[4], float euler[4])
	Compute euler angles from a quaternion (default XYZ order) More...

void	HIKGetCharacterizeNodeStatefv (const HIKCharacter *pCharacter, int pNodeId, float pXForm[16])
	Retrieve the transform matrix for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKGetCharacterizeNodeStateTQSdv (const HIKCharacter *pCharacter, int pNodeId, double pT[4], double pQ[4], double pS[4])
	Retrieve the translation, orientation and scaling for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKGetCharacterizeNodeStateTQSfv (const HIKCharacter *pCharacter, int pNodeId, float pT[4], float pQ[4], float pS[4])
	Retrieve the translation, orientation and scaling for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKGetCharacterStateTransform (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescriptionMatrix pDataDescription, void pDataSet)
	Retrieve the transform matrices of multiple Nodes from HIKCharacterState `pCharacterState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetCharacterStateTransformQ (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, void pDataSet)
	Retrieve the quaternion rotation (Q) of multiple Nodes from HIKCharacterState `pCharacterState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetCharacterStateTransformTQ (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, void pDataSet)
	Retrieve the translation (T) and quaternion rotation (Q) of multiple Nodes from HIKCharacterState `pCharacterState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetCharacterStateTransformTQS (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, void pDataSet)
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) of multiple Nodes from HIKCharacterState `pCharacterState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetCharacterStateTransformTQS_SoA (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, void pDataSet)
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) of multiple Nodes from HIKCharacterState `pCharacterState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetDefaultState (const HIKCharacter pCharacter, HIKCharacterState pCharacterState)
	Retrieve the default T-stance for character `pCharacter`, storing it in HIKCharacterState `pCharacterState`. This function always returns the same stance for the given character. The default stance does not differ before and after you perform a solve. More...

void	HIKGetDOFFromLocalQfv (const HIKCharacter *pCharacter, int pNodeId, const float pQuat[4], float pEuler[4])
	Compute the euler angle equivalent of a local quaternion, using the DOFs structures (pre-rotation, rotation order, ...) More...

void	HIKGetEffectorFloorStatedv (const HIKEffectorSetState *pEffectorSetState, int pFloor, double pXForm[16])
	Retrieve the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorFloorStatefv (const HIKEffectorSetState *pEffectorSetState, int pFloor, float pXForm[16])
	Retrieve the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorFloorStateTQdv (const HIKEffectorSetState *pEffectorSetState, int pFloor, double pT[4], double pQ[4])
	Retrieve the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorFloorStateTQfv (const HIKEffectorSetState *pEffectorSetState, int pFloor, float pT[4], float pQ[4])
	Retrieve the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKGetEffectorStateData (const HIKEffectorSetState pEffectorSetState, const HIKEffectorDataDescriptionMatrix pDataDescription, void *pDataSet)
	Retrieve the transform matrix and IK constraints of multiple Effectors from HIKEffectorSetState `pEffectorSetState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetEffectorStateDataTQS (const HIKEffectorSetState pEffectorSetState, const HIKEffectorDataDescription pDataDescription, void *pDataSet)
	Retrieve the translation (T), quaternion rotation (Q), scaling (S), and IK constraints of multiple Effectors from HIKEffectorSetState `pEffectorSetState`, writing them to memory in data set `pDataSet` according to data description `pDataDescription`. More...

void	HIKGetEffectorStatedv (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, double pXForm[16])
	Retrieve the transform matrix of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. More...

void	HIKGetEffectorStateFromCharacterdv (const HIKCharacter pCharacter, int pEffectorIndex, const HIKCharacterState pCharacterState, const HIKPropertySetState *pPropertyState, double pXForm[16])
	Retrieve the transform matrix of Effector `pEffectorIndex` for character `pCharacter` in HIKCharacterState `pCharacterState`. More...

void	HIKGetEffectorStateFromCharacterfv (const HIKCharacter pCharacter, int pEffectorIndex, const HIKCharacterState pCharacterState, const HIKPropertySetState *pPropertyState, float pXForm[16])
	Retrieve the transform matrix of Effector `pEffectorIndex` for character `pCharacter` in HIKCharacterState `pCharacterState`. More...

void	HIKGetEffectorStatefv (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pXForm[16])
	Retrieve the transform matrix of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. More...

void	HIKGetEffectorStateTQAlignfv (const HIKEffectorSetState pEffectorSetState, int pEffectorIndex, float pTQ, size_t pTOffset, size_t pQOffset)
	Retrieve the translation (T) and quaternion rotation (Q) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are stored at specified offsets within a single array. More...

void	HIKGetEffectorStateTQfv (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pT[4], float pQ[4])
	Retrieve the translation (T) and quaternion rotation (Q) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are expressed using separate arrays. More...

void	HIKGetEffectorStateTQSAlignfv (const HIKEffectorSetState pEffectorSetState, int pEffectorIndex, float pTQS, size_t pTOffset, size_t pQOffset, size_t pSOffset)
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are stored at specified offsets within a single array. More...

void	HIKGetEffectorStateTQSdv (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, double pT[4], double pQ[4], double pS[4])
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are expressed using separate arrays. More...

void	HIKGetEffectorStateTQSfv (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pT[4], float pQ[4], float pS[4])
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are expressed using separate arrays. More...

float	HIKGetHandPullHips (const HIKEffectorSetState *pEffectorSetState, int pLeft)
	Retrieve the amount of pull the left or right hand can exert on the hips. More...

int	HIKGetIKSolvingStep (const HIKEffectorSetState *pEffectorSetState)
	Retrieve the IK solving steps currently set for HIKEffectorSetState `pEffectorSetState`. More...

void	HIKGetLimitsdv (const HIKCharacter *pCharacter, int pNodeId, double pMin[3], double pMax[3], double pPreQ[4], double pPostQ[4], int &pActiveMask, eHIKRotationOrder &pRotationOrder)
	Retrieve the limits set for Node `pNodeId`. More...

void	HIKGetLimitsfv (const HIKCharacter *pCharacter, int pNodeId, float pMin[3], float pMax[3], float pPreQ[4], float pPostQ[4], int &pActiveMask, eHIKRotationOrder &pRotationOrder)
	Retrieve the limits set for Node `pNodeId`. More...

void	HIKGetLocalQFromDOFfv (const HIKCharacter *pCharacter, int pNodeId, const float pEuler[4], float pQuat[4])
	Compute a local quaternion from an euler angle, using the DOFs structures (pre-rotation, rotation order, ...) More...

void	HIKGetNodeStatedv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, double pXForm[16])
	Retrieve the transform matrix of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKGetNodeStatefv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, float pXForm[16])
	Retrieve the transform matrix of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKGetNodeStateTQAlignfv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, float *pTQ, size_t pTOffset, size_t pQOffset)
	Retrieve the translation (T) and quaternion rotation (Q) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are stored at specified offsets within a single array. More...

void	HIKGetNodeStateTQfv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, float pT[4], float pQ[4])
	Retrieve the translation (T) and quaternion rotation (Q) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKGetNodeStateTQNonUniformSfv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, float pT[4], float pQ[4], float pS[4])
	Retrieve the translation (T), quaternion rotation (Q) and non-uniform scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKGetNodeStateTQSAlignfv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, float *pTQS, size_t pTOffset, size_t pQOffset, size_t pSOffset)
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are stored at specified offsets within a single array. More...

void	HIKGetNodeStateTQSdv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, double pT[4], double pQ[4], double pS[4])
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKGetNodeStateTQSfv (const HIKCharacter pCharacter, const HIKCharacterState pCharacterState, int pNodeId, float pT[4], float pQ[4], float pS[4])
	Retrieve the translation (T), quaternion rotation (Q) and scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

int	HIKGetNodeUse (const HIKCharacter *pCharacter, int pNodeId)
	Retrieve the characterization flag set for Node `pNodeId` in HIKCharacter `pCharacter`. More...

void	HIKGetParentOffsetdv (const HIKCharacter *pCharacter, int pNodeId, double pParentTOffset[4], double pParentQOffset[4], double pParentSOffset[4])
	Retrieve the parent offset set for Node `pNodeId`. More...

void	HIKGetParentOffsetfv (const HIKCharacter *pCharacter, int pNodeId, float pParentTOffset[4], float pParentQOffset[4], float pParentSOffset[4])
	Retrieve the parent offset set for Node `pNodeId`. More...

float	HIKGetPull (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex)
	Retrieve the Pull constraint for Effector `pEffectorIndex`. More...

void	HIKGetRelaxPose (const HIKCharacter pCharacter, HIKCharacterState pCharacterState)
	Calculate a basic seated pose for character `pCharacter`, storing it in HIKCharacterState `pCharacterState`. More...

float	HIKGetResist (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex)
	Retrieve the Resist constraint for Effector `pEffectorIndex`. More...

float	HIKGetRotationActive (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex)
	Retrieve the Reach Rotation constraint for Effector `pEffectorIndex`. More...

float	HIKGetTranslationActive (const HIKEffectorSetState *pEffectorSetState, int pEffectorIndex)
	Retrieve the Reach Translation constraint for Effector `pEffectorIndex`. More...

void	HIKInverseJoint (HIKCharacter *pCharacter, eHIKMiddleJoint pJoint, int pInverse)
	Reverses the direction in which a middle joint bends, such as a knee or elbow. More...

int	HIKIsJointInverted (const HIKCharacter *pCharacter, eHIKMiddleJoint pJoint)
	Indicates whether or not a middle joint is inverted. More...

int	HIKNodeIdFromNodeName (const char *pName)
	Retrieve the Node ID from a descriptive name. This is a utility function that maps between FBX and HIK. More...

const char *	HIKNodeNameFromNodeId (int pNodeId)
	Retrieve a descriptive name for Node `pNodeId`. This is a utility function that maps between FBX and HIK. More...

void	HIKQTransform (const float quat[4], const float p[4], float q[4])
	Compute the result of a point tranformed by a quaternion. More...

void	HIKSetCharacterizeNodeStatedv (HIKCharacter *pCharacter, int pNodeId, const double pXForm[16])
	Set the transform matrix for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKSetCharacterizeNodeStatefv (HIKCharacter *pCharacter, int pNodeId, const float pXForm[16])
	Set the transform matrix for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKSetCharacterizeNodeStateTQSdv (HIKCharacter *pCharacter, int pNodeId, const double pT[4], const double pQ[4], const double pS[4])
	Set the translation, orientation and scaling for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKSetCharacterizeNodeStateTQSfv (HIKCharacter *pCharacter, int pNodeId, const float pT[4], const float pQ[4], const float pS[4])
	Set the translation, orientation and scaling for the Node `pNodeId` when the character is standing in the default T-stance. More...

void	HIKSetCharacterStateTransform (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescriptionMatrix pDataDescription, const void pDataSet)
	Set the transform matrix of multiple Nodes from data set `pDataSet`, interpreted according to data description `pDataDescription`. More...

void	HIKSetCharacterStateTransformTQ (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, const void pDataSet)
	Set the translation (T) and quaternion rotation (Q) of multiple Nodes from data set `pDataSet`, interpreted according to data description `pDataDescription`. More...

void	HIKSetCharacterStateTransformTQS (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, const void pDataSet)
	Set the translation (T), quaternion rotation (Q) and scaling (S) of multiple Nodes from data set `pDataSet`, interpreted according to data description `pDataDescription`. More...

void	HIKSetCharacterStateTransformTQS_SoA (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, const HIKDataDescription pDataDescription, const void pDataSet)
	Set the translation (T), quaternion rotation (Q) and scaling (S) of multiple Nodes from data set `pDataSet`, interpreted according to data description `pDataDescription`. More...

void	HIKSetEffectorFloorStatedv (HIKEffectorSetState *pEffectorSetState, int pFloor, const double pXForm[16])
	Set the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorFloorStatefv (HIKEffectorSetState *pEffectorSetState, int pFloor, const float pXForm[16])
	Set the transform matrix of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorFloorStateTQdv (HIKEffectorSetState *pEffectorSetState, int pFloor, const double pT[4], const double pQ[4])
	Set the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorFloorStateTQfv (HIKEffectorSetState *pEffectorSetState, int pFloor, const float pT[4], const float pQ[4])
	Set the translation and rotation in global space of the oriented plane that the floor contact engine applies to one of your character's feet or hands. More...

void	HIKSetEffectorStateData (HIKEffectorSetState pEffectorSetState, const HIKEffectorDataDescriptionMatrix pDataDescription, const void *pDataSet)
	Set the transform matrix and IK constraints of multiple Effectors from data set `pDataSet`, interpreted according to data description `pDataDescription`. More...

void	HIKSetEffectorStateDataTQS (HIKEffectorSetState pEffectorSetState, const HIKEffectorDataDescription pDataDescription, const void *pDataSet)
	Set the translation (T), quaternion rotation (Q), scaling (S), and IK constraints of multiple Effectors from data set `pDataSet`, interpreted according to data description `pDataDescription`. More...

void	HIKSetEffectorStatedv (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, const double pXForm[16])
	Set the transform matrix of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. More...

void	HIKSetEffectorStatefv (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, const float pXForm[16])
	Set the transform matrix of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. More...

void	HIKSetEffectorStateTQAlignfv (HIKEffectorSetState pEffectorSetState, int pEffectorIndex, const float pTQ, size_t pTOffset, size_t pQOffset)
	Set the translation (T) and quaternion rotation (Q) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are read from specified offsets within a single array. More...

void	HIKSetEffectorStateTQSAlignfv (HIKEffectorSetState pEffectorSetState, int pEffectorIndex, const float pTQS, size_t pTOffset, size_t pQOffset, size_t pSOffset)
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are read from specified offsets within a single array. More...

void	HIKSetEffectorStateTQSdv (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, const double pT[4], const double pQ[4], const double pS[4])
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are provided in separate arrays. More...

void	HIKSetEffectorStateTQSfv (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, const float pT[4], const float pQ[4], const float pS[4])
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global space of Effector `pEffectorIndex` in HIKEffectorSetState `pEffectorSetState`. Values are provided in separate arrays. More...

void	HIKSetHandPullHips (HIKEffectorSetState *pEffectorSetState, int pLeft, float pValue)
	Set the amount of pull the left or right hand can exert on the hips. More...

void	HIKSetIKSolvingStep (HIKEffectorSetState *pEffectorSetState, int pSolvingStep)
	Set the IK solving steps for HIKEffectorSetState `pEffectorSetState`. More...

void	HIKSetLimitsdv (HIKCharacter *pCharacter, int pNodeId, const double pMin[3], const double pMax[3], const double pPreQ[4], const double pPostQ[4], int pActiveMask, eHIKRotationOrder pRotationOrder)
	Set up limits for Node `pNodeId`. More...

void	HIKSetLimitsfv (HIKCharacter *pCharacter, int pNodeId, const float pMin[3], const float pMax[3], const float pPreQ[4], const float pPostQ[4], int pActiveMask, eHIKRotationOrder pRotationOrder)
	Set up limits for Node `pNodeId`. More...

void	HIKSetMaxXYZRotationdv (HIKCharacter *pCharacter, int pNodeId, const double pMax[3], int pMaxActiveMask)
	Set the maximum rotation for the Node `pNodeId`. More...

void	HIKSetMaxXYZRotationfv (HIKCharacter *pCharacter, int pNodeId, const float pMax[3], int pMaxActiveMask)
	Set the maximum rotation for the Node `pNodeId`. More...

void	HIKSetMinXYZRotationdv (HIKCharacter *pCharacter, int pNodeId, const double pMin[3], int pMinActiveMask)
	Set the minimum rotation for the Node `pNodeId`. More...

void	HIKSetMinXYZRotationfv (HIKCharacter *pCharacter, int pNodeId, const float pMin[3], int pMinActiveMask)
	Set the minimum rotation for the Node `pNodeId`. More...

void	HIKSetNodeStatedv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const double pXForm[16])
	Set the transform matrix of Node `pNodeId` in HIKCharacterState `pCharacterState`. More...

void	HIKSetNodeStatefv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float pXForm[16])
	Set the transform matrix of Node `pNodeId` in HIKCharacterState `pCharacterState`. More...

void	HIKSetNodeStateTQAlignfv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float *pTQ, size_t pTOffset, size_t pQOffset)
	Set the translation (T) and quaternion rotation (Q) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are read from specified offsets within a single array. More...

void	HIKSetNodeStateTQfv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float pT[4], const float pQ[4])
	Set the translation (T) and quaternion rotation (Q) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKSetNodeStateTQNonUniformSfv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float pT[4], const float pQ[4], const float pS[4])
	Set the translation (T), quaternion rotation (Q) and non-uniform scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKSetNodeStateTQSAlignfv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float *pTQS, size_t pTOffset, size_t pQOffset, size_t pSOffset)
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are read from specified offsets within a single array. More...

void	HIKSetNodeStateTQSdv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const double pT[4], const double pQ[4], const double pS[4])
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKSetNodeStateTQSfv (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float pT[4], const float pQ[4], const float pS[4])
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays. More...

void	HIKSetNodeStateTQSfvComputeDependent (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, int pNodeId, const float pT, const float pQ, const float *pS, const bool pLocal)
	Set the translation (T), quaternion rotation (Q) and scaling (S) in global or local space of Node `pNodeId` in HIKCharacterState `pCharacterState`. Values are expressed using separate arrays and update dependent nodes. More...

void	HIKSetOriginalSnSLength (HIKCharacter pCharacter, bool pFromCharacterizationPose, HIKCharacterState pCharacterState)
	Allow setting original length for joints from CharacterState instead of characterization pose (default) More...

void	HIKSetParentOffsetdv (HIKCharacter *pCharacter, int pNodeId, const double pParentTOffset[4], const double pParentQOffset[4], const double pParentSOffset[4])
	Set the parent offset for Node `pNodeId`. More...

void	HIKSetParentOffsetfv (HIKCharacter *pCharacter, int pNodeId, const float pParentTOffset[4], const float pParentQOffset[4], const float pParentSOffset[4])
	Set the parent offset for Node `pNodeId`. More...

void	HIKSetPostQdv (HIKCharacter *pCharacter, int pNodeId, const double pPostQ[4])
	Apply the post rotation `pPostQ` to the Node `pNodeId`. More...

void	HIKSetPostQfv (HIKCharacter *pCharacter, int pNodeId, const float pPostQ[4])
	Apply the post rotation `pPostQ` to the Node `pNodeId`. More...

void	HIKSetPreQdv (HIKCharacter *pCharacter, int pNodeId, const double pPreQ[4])
	Apply the pre rotation `pPreQ` to Node `pNodeId`. More...

void	HIKSetPreQfv (HIKCharacter *pCharacter, int pNodeId, const float pPreQ[4])
	Apply the pre rotation `pPreQ` to Node `pNodeId`. More...

void	HIKSetPull (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pValue)
	Set the Pull constraint for Effector `pEffectorIndex`. More...

void	HIKSetResist (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pValue)
	Set the Resist constraint for Effector `pEffectorIndex`. More...

void	HIKSetRotationActive (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pValue)
	Set the Reach Rotation constraint for Effector `pEffectorIndex`. More...

void	HIKSetRotationOrder (HIKCharacter *pCharacter, int pNodeId, eHIKRotationOrder pRotationOrder)
	Sets the order in which the axes are specified in the limits set for Node `pNodeId`. More...

void	HIKSetTranslationActive (HIKEffectorSetState *pEffectorSetState, int pEffectorIndex, float pValue)
	Set the Reach Translation constraint for Effector `pEffectorIndex`. More...

void	HIKSetTranslationLimitsd (HIKCharacter *pCharacter, int pNodeId, double pMin, double pMax, bool pActive)
	Set the translation limits for Node `pNodeId`. More...

void	HIKSetTranslationLimitsf (HIKCharacter *pCharacter, int pNodeId, float pMin, float pMax, bool pActive)
	Set the translation limits for Node `pNodeId`. More...

void	HIKSolveForCharacter (const HIKCharacter pDstCharacter, HIKCharacterState pCharacterState, const HIKCharacter pSrcCharacter, const HIKCharacterState pSrcCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pDstPropertyState, const HIKPropertySetState *pSrcPropertyState)
	Given source character `pSrcCharacter` with HIKCharacterState `pSrcCharacterState`, calculate HIKCharacterState `pCharacterState` for destination character `pDstCharacter`. More...

void	HIKSolveForCharacterPrepareEffectorSet (const HIKCharacter pDstCharacter, HIKCharacterState pDstCharacterState, const HIKCharacter pSrcCharacter, const HIKCharacterState pSrcCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pDstPropertyState, const HIKPropertySetState *pSrcPropertyState)
	Sync IK pEffectorSetState on source FK pSrcCharacterState and adjust IK relative to destination character pDstCharacter. More...

void	HIKSolveForCharacterRetarget (const HIKCharacter pDstCharacter, HIKCharacterState pDstCharacterState, const HIKCharacter pSrcCharacter, const HIKCharacterState pSrcCharacterState, const HIKPropertySetState *pDstPropertyState)
	Simple rotation mapper between `pSrcCharacter` and `pDstCharacter`. More...

void	HIKSolveForEffectorSet (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Solve character `pCharacter` with HIKEffectorSetState `pEffectorSetState` and initial HIKCharacterState `pCharacterState`, storing results in `pCharacterState`. More...

void	HIKSolveForEffectorSetArmsAndLegs (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the arms, legs and shoulders IK solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetBegin (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Initializes an IK solve for character `pCharacter`. More...

void	HIKSolveForEffectorSetBodyPull (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the pull solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetFingersAndToes (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the fingers and toes IK solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetFloorContact (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the floor solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetFloorContactApprox (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the floor contact approximation solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetHeadAndNeck (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the head and neck IK solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetHipsTranslation (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the special hips translation solver for character `pCharacter`. More...

void	HIKSolveForEffectorSetModifiers (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the Mirror and Lock modifiers for character `pCharacter`. More...

void	HIKSolveForEffectorSetRollExtraction (const HIKCharacter pCharacter, HIKCharacterState pCharacterState, HIKEffectorSetState pEffectorSetState, const HIKPropertySetState pPropertyState)
	Call the roll extraction solver for character `pCharacter`. More...

void	HIKSubQuadripedOffset (const HIKCharacter pCharacter, HIKCharacterState pCharacterState)
	Subtract quadruped offsets from HIKCharacterState `pCharacterState`. More...

bool	HIKValidateGeometry (const HIKCharacter *pCharacter)

bool	HIKValidateHierarchy (const HIKCharacterDefinition *pCharacterDefinition)

Typedef Documentation

typedef enum HIKMiddleJoint eHIKMiddleJoint

see enum HIKMiddleJoint

typedef enum HIKRotationOrder eHIKRotationOrder

see enum HIKRotationOrder

typedef enum HIKToken eHIKToken

see enum HIKToken

HIKFree

Memory de-allocator function. This is exactly the same signature as free.

HIKMalloc

Memory allocator function. This is exactly the same signature as malloc.

Enumeration Type Documentation

enum HIKEffectorId

Lists all Effectors used by HumanIK as goal points for IK solving.

See also: Mapping Joints to HumanIK Nodes and Effectors.

Enumerator
HipsEffectorId	Provides an IK goal point for an imaginary point on the character's skeleton that lies exactly half-way between the placement of LeftHipNodeId and RightHipNodeId when the character is in its default T-stance.
LeftAnkleEffectorId	Provides an IK goal point for the LeftAnkleNodeId.
RightAnkleEffectorId	Provides an IK goal point for the RightAnkleNodeId.
LeftWristEffectorId	Provides an IK goal point for the LeftWristNodeId.
RightWristEffectorId	Provides an IK goal point for the RightWristNodeId.
LeftKneeEffectorId	Provides an IK goal point for the LeftKneeNodeId.
RightKneeEffectorId	Provides an IK goal point for the RightKneeNodeId.
LeftElbowEffectorId	Provides an IK goal point for the LeftElbowNodeId.
RightElbowEffectorId	Provides an IK goal point for the RightElbowNodeId.
ChestOriginEffectorId	Provides an IK goal point for the WaistNodeId.
ChestEndEffectorId	Provides an IK goal point for an imaginary point on the character's skeleton that lies exactly half-way between the placement of LeftShoulderNodeId and RightShoulderNodeId when the character is in its default T-stance.
LeftFootEffectorId	Provides an IK goal point for the LeftFootNodeId.
RightFootEffectorId	Provides an IK goal point for the RightFootNodeId.
LeftShoulderEffectorId	Provides an IK goal point for the LeftShoulderNodeId.
RightShoulderEffectorId	Provides an IK goal point for the RightShoulderNodeId.
HeadEffectorId	Provides an IK goal point for the HeadNodeId.
LeftHipEffectorId	Provides an IK goal point for the LeftHipNodeId.
RightHipEffectorId	Provides an IK goal point for the RightHipNodeId.
LeftHandEffectorId	Provides an IK goal point for the LeftHandNodeId.
RightHandEffectorId	Provides an IK goal point for the RightHandNodeId.
LeftHandThumbEffectorId	Provides an IK goal point for the last Node in the thumb of the left hand.
LeftHandIndexEffectorId	Provides an IK goal point for the last Node in the index finger of the left hand.
LeftHandMiddleEffectorId	Provides an IK goal point for the last Node in the middle finger of the left hand.
LeftHandRingEffectorId	Provides an IK goal point for the last Node in the ring finger of the left hand.
LeftHandPinkyEffectorId	Provides an IK goal point for the last Node in the pinky finger of the left hand.
LeftHandExtraFingerEffectorId	Provides an IK goal point for the last Node in the extra finger of the left hand.
RightHandThumbEffectorId	Provides an IK goal point for the last Node in the thumb of the right hand.
RightHandIndexEffectorId	Provides an IK goal point for the last Node in the index finger of the right hand.
RightHandMiddleEffectorId	Provides an IK goal point for the last Node in the middle finger of the right hand.
RightHandRingEffectorId	Provides an IK goal point for the last Node in the ring finger of the right hand.
RightHandPinkyEffectorId	Provides an IK goal point for the last Node in the pinky finger of the right hand.
RightHandExtraFingerEffectorId	Provides an IK goal point for the last Node in the extra finger of the right hand.
LeftFootThumbEffectorId	Provides an IK goal point for the last Node in the thumb of the left foot.
LeftFootIndexEffectorId	Provides an IK goal point for the last Node in the index toe of the left foot.
LeftFootMiddleEffectorId	Provides an IK goal point for the last Node in the middle toe of the left foot.
LeftFootRingEffectorId	Provides an IK goal point for the last Node in the ring toe of the left foot.
LeftFootPinkyEffectorId	Provides an IK goal point for the last Node in the pinky toe of the left foot.
LeftFootExtraFingerEffectorId	Provides an IK goal point for the last Node in the extra toe of the left foot.
RightFootThumbEffectorId	Provides an IK goal point for the last Node in the thumb of the right foot.
RightFootIndexEffectorId	Provides an IK goal point for the last Node in the index toe of the right foot.
RightFootMiddleEffectorId	Provides an IK goal point for the last Node in the middle toe of the right foot.
RightFootRingEffectorId	Provides an IK goal point for the last Node in the ring toe of the right foot.
RightFootPinkyEffectorId	Provides an IK goal point for the last Node in the pinky toe of the right foot.
RightFootExtraFingerEffectorId	Provides an IK goal point for the last Node in the extra toe of the right foot.
LastEffectorId	Marks the end of the enumeration.

enum HIKNodeId

Lists all Nodes known to HumanIK, used to set up and access data for HIKCharacters.

See also: Mapping Joints to HumanIK Nodes and Effectors.

Remarks: Some Nodes are required for all characters. Others are optional.

Enumerator
ReferenceNodeId	An optional repository for the overall translation, rotation and scale of your character.
HipsNodeId	Required.
LeftHipNodeId	Required.
LeftKneeNodeId	Required.
LeftAnkleNodeId	Required.
RightHipNodeId	Required.
RightKneeNodeId	Required.
RightAnkleNodeId	Required.
WaistNodeId	Required.
LeftShoulderNodeId	Required.
LeftElbowNodeId	Required.
LeftWristNodeId	Required.
RightShoulderNodeId	Required.
RightElbowNodeId	Required.
RightWristNodeId	Required.
HeadNodeId	Required.
LeftFootNodeId	Optional.
RightFootNodeId	Optional.
LeftCollarNodeId	Optional.
RightCollarNodeId	Optional.
NeckNodeId	Optional.
LeftHandNodeId	Optional.
RightHandNodeId	Optional.
Spine1NodeId	Optional.
Spine2NodeId	Optional.
Spine3NodeId	Optional.
Spine4NodeId	Optional.
Spine5NodeId	Optional.
Spine6NodeId	Optional.
Spine7NodeId	Optional.
Spine8NodeId	Optional.
Spine9NodeId	Optional.
Neck1NodeId	Optional.
Neck2NodeId	Optional.
Neck3NodeId	Optional.
Neck4NodeId	Optional.
Neck5NodeId	Optional.
Neck6NodeId	Optional.
Neck7NodeId	Optional.
Neck8NodeId	Optional.
Neck9NodeId	Optional.
LeftHipRollNodeId	Optional.
LeftKneeRollNodeId	Optional.
RightHipRollNodeId	Optional.
RightKneeRollNodeId	Optional.
LeftShoulderRollNodeId	Optional.
LeftElbowRollNodeId	Optional.
RightShoulderRollNodeId	Optional.
RightElbowRollNodeId	Optional.
HipsTranslationId	Optional.
LeftThumbANodeId	Optional.
LeftThumbBNodeId	Optional.
LeftThumbCNodeId	Optional.
LeftThumbDNodeId	Optional.
LeftIndexANodeId	Optional.
LeftIndexBNodeId	Optional.
LeftIndexCNodeId	Optional.
LeftIndexDNodeId	Optional.
LeftMiddleANodeId	Optional.
LeftMiddleBNodeId	Optional.
LeftMiddleCNodeId	Optional.
LeftMiddleDNodeId	Optional.
LeftRingANodeId	Optional.
LeftRingBNodeId	Optional.
LeftRingCNodeId	Optional.
LeftRingDNodeId	Optional.
LeftPinkyANodeId	Optional.
LeftPinkyBNodeId	Optional.
LeftPinkyCNodeId	Optional.
LeftPinkyDNodeId	Optional.
LeftExtraFingerANodeId	Optional.
LeftExtraFingerBNodeId	Optional.
LeftExtraFingerCNodeId	Optional.
LeftExtraFingerDNodeId	Optional.
RightThumbANodeId	Optional.
RightThumbBNodeId	Optional.
RightThumbCNodeId	Optional.
RightThumbDNodeId	Optional.
RightIndexANodeId	Optional.
RightIndexBNodeId	Optional.
RightIndexCNodeId	Optional.
RightIndexDNodeId	Optional.
RightMiddleANodeId	Optional.
RightMiddleBNodeId	Optional.
RightMiddleCNodeId	Optional.
RightMiddleDNodeId	Optional.
RightRingANodeId	Optional.
RightRingBNodeId	Optional.
RightRingCNodeId	Optional.
RightRingDNodeId	Optional.
RightPinkyANodeId	Optional.
RightPinkyBNodeId	Optional.
RightPinkyCNodeId	Optional.
RightPinkyDNodeId	Optional.
RightExtraFingerANodeId	Optional.
RightExtraFingerBNodeId	Optional.
RightExtraFingerCNodeId	Optional.
RightExtraFingerDNodeId	Optional.
LeftFootThumbANodeId	Optional.
LeftFootThumbBNodeId	Optional.
LeftFootThumbCNodeId	Optional.
LeftFootThumbDNodeId	Optional.
LeftFootIndexANodeId	Optional.
LeftFootIndexBNodeId	Optional.
LeftFootIndexCNodeId	Optional.
LeftFootIndexDNodeId	Optional.
LeftFootMiddleANodeId	Optional.
LeftFootMiddleBNodeId	Optional.
LeftFootMiddleCNodeId	Optional.
LeftFootMiddleDNodeId	Optional.
LeftFootRingANodeId	Optional.
LeftFootRingBNodeId	Optional.
LeftFootRingCNodeId	Optional.
LeftFootRingDNodeId	Optional.
LeftFootPinkyANodeId	Optional.
LeftFootPinkyBNodeId	Optional.
LeftFootPinkyCNodeId	Optional.
LeftFootPinkyDNodeId	Optional.
LeftExtraFootFingerANodeId	Optional.
LeftExtraFootFingerBNodeId	Optional.
LeftExtraFootFingerCNodeId	Optional.
LeftExtraFootFingerDNodeId	Optional.
RightFootThumbANodeId	Optional.
RightFootThumbBNodeId	Optional.
RightFootThumbCNodeId	Optional.
RightFootThumbDNodeId	Optional.
RightFootIndexANodeId	Optional.
RightFootIndexBNodeId	Optional.
RightFootIndexCNodeId	Optional.
RightFootIndexDNodeId	Optional.
RightFootMiddleANodeId	Optional.
RightFootMiddleBNodeId	Optional.
RightFootMiddleCNodeId	Optional.
RightFootMiddleDNodeId	Optional.
RightFootRingANodeId	Optional.
RightFootRingBNodeId	Optional.
RightFootRingCNodeId	Optional.
RightFootRingDNodeId	Optional.
RightFootPinkyANodeId	Optional.
RightFootPinkyBNodeId	Optional.
RightFootPinkyCNodeId	Optional.
RightFootPinkyDNodeId	Optional.
RightExtraFootFingerANodeId	Optional.
RightExtraFootFingerBNodeId	Optional.
RightExtraFootFingerCNodeId	Optional.
RightExtraFootFingerDNodeId	Optional.
LeftThumbInNodeId	Optional.
LeftIndexInNodeId	Optional.
LeftMiddleInNodeId	Optional.
LeftRingInNodeId	Optional.
LeftPinkyInNodeId	Optional.
LeftExtraFingerInNodeId	Optional.
RightThumbInNodeId	Optional.
RightIndexInNodeId	Optional.
RightMiddleInNodeId	Optional.
RightRingInNodeId	Optional.
RightPinkyInNodeId	Optional.
RightExtraFingerInNodeId	Optional.
LeftFootThumbInNodeId	Optional.
LeftFootIndexInNodeId	Optional.
LeftFootMiddleInNodeId	Optional.
LeftFootRingInNodeId	Optional.
LeftFootPinkyInNodeId	Optional.
LeftExtraFootFingerInNodeId	Optional.
RightFootThumbInNodeId	Optional.
RightFootIndexInNodeId	Optional.
RightFootMiddleInNodeId	Optional.
RightFootRingInNodeId	Optional.
RightFootPinkyInNodeId	Optional.
RightExtraFootFingerInNodeId	Optional.
LeftCollarExtraNodeId	Optional.
RightCollarExtraNodeId	Optional.
LastNodeId	Marks the end of the enumeration.

enum HIKSolvingStep

Lists the solving steps supported by the IK solver. Used when setting the solving steps that the solver should perform. See HIKSetIKSolvingStep() and HIKGetIKSolvingStep().

Enumerator
HIKSolvingStepBodyPull	Activates the full-body Pull engine for the inverse kinematics solver. You must specify this solving step in order for the solver to take the Pull and Resist settings of your Effectors into account.
HIKSolvingStepContact	Activates the Foot and Hand Contact engine for the inverse kinematics solver. You must specify this solving step in order for the solver to prevent your character's feet and hands from passing through oriented planes such as floors and walls. See Foot and Hand Contact.
HIKSolvingStepContactApprox	Configures the inverse kinematics solver to perform an initial approximate solving with the floor contact engine before invoking the full-body Pull engine. This first pass helps ensure that the Pull engine does not accidentally pull any other body parts through the oriented planes specified for your character's hands and feet. You should use this solving step if you use both the HIKSolvingStepBodyPull and HIKSolvingStepContact solving steps.
HIKSolvingStepLeftShoulder	Solves the character's left collar bones: LeftCollarNodeId and LeftCollarExtraNodeId.
HIKSolvingStepRightShoulder	Solves the character's right collar bones: RightCollarNodeId and RightCollarExtraNodeId.
HIKSolvingStepLeftArm	Solves the character's left arm, from LeftShoulderNodeId to LeftHandNodeId inclusive.
HIKSolvingStepRightArm	Solves the character's right arm, from RightShoulderNodeId to RightHandNodeId inclusive.
HIKSolvingStepLeftLeg	Solves the character's left leg, from LeftHipNodeId to LeftFootNodeId inclusive.
HIKSolvingStepRightLeg	Solves the character's right leg, from RightHipNodeId to RightFootNodeId inclusive.
HIKSolvingStepLeftHand	Solves the fingers of the left hand. Note that LeftHandNodeId itself is included in HIKSolvingStepLeftArm.
HIKSolvingStepRightHand	Solves the fingers of the right hand. Note that RightHandNodeId itself is included in HIKSolvingStepRightArm.
HIKSolvingStepLeftFoot	Solves the toes of the left foot. Note that LeftFootNodeId itself is included in HIKSolvingStepLeftLeg.
HIKSolvingStepRightFoot	Solves the toes of the right foot. Note that RightFootNodeId itself is included in HIKSolvingStepRightLeg.
HIKSolvingStepHead	Solves the character's neck and head, including NeckNodeId, Neck1NodeId to Neck9NodeId, and HeadNodeId.
HIKSolvingStepSpine	Solves the character's spine, including WaistNodeId, and Spine1NodeId to Spine9NodeId.
HIKSolvingStepHipsTranslation	Adjusts the translation of the character's hips, if necessary.
HIKSolvingStepRollExtraction	Shifts a percentage of the roll rotation from the character's shoulders, elbows, hips and knees to their respective roll bones. The percentage of the roll rotation that is extracted from the Nodes and applied to the roll Nodes is specified by a set of character properties. See General Properties.
HIKSolvingStepLeftArmSnS	Activates Squash & Strech for the left arm, from LeftShoulderNodeId to LeftHandNodeId inclusive.
HIKSolvingStepRightArmSnS	Activates Squash & Strech for the right arm, from RightShoulderNodeId to RightHandNodeId inclusive.
HIKSolvingStepLeftLegSnS	Activates Squash & Strech for the left arm, from LeftHipNodeId to LeftFootNodeId inclusive.
HIKSolvingStepRightLegSnS	Activates Squash & Strech for the right arm, from RightHipNodeId to RightFootNodeId inclusive.
HIKSolvingStepModifiers	Activates Lock & Mirror modifiers.
HIKSolvingStepAllParts	Enables the solving steps for all body parts, from HIKSolvingStepLeftShoulder to HIKSolvingStepSpine. Excludes pull, contact, hips translation, roll extraction and Squash 'n' Stretch.
HIKSolvingStepAll	Enables all solving steps listed above.

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humanik.h File Reference

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