HIKEffectorSetState Struct Reference

#include <humanik.h>

Class Description

Defines an HIKEffectorSetState.

Represents a set of IK goal points at a given moment in time. It contains:

• The global space transformation matrix for each Effector. See HIKSetEffectorStatefv() and HIKGetEffectorStatefv().
• The IK solving steps to be performed by the solver. See HIKSetIKSolvingStep() and HIKGetIKSolvingStep().
• The Reach Translation value for each Effector. See HIKSetTranslationActive() and HIKGetTranslationActive().
• The Reach Rotation value for each Effector. See HIKSetRotationActive() and HIKGetRotationActive().
• The Pull value for each Effector. See HIKSetPull() and HIKGetPull().
• The Resist value for each Effector. See HIKSetResist(), HIKGetResist().
• The floor contact position for each foot and hand. See HIKSetEffectorFloorStatefv() and HIKGetEffectorFloorStatefv().

For the size in memory of an HIKEffectorSetState, see HumanIK Objects and Memory Management.

You can move HIKEffectorSetState objects freely between memory locations, or send them to another processing unit through DMA.

Remarks

HIKEffectorSetState objects should be used as pointers only. To create and destroy an HIKEffectorSetState, see HIKEffectorSetStateCreate() and HIKEffectorSetStateDestroy().

---

The documentation for this struct was generated from the following file:

• humanik.h