Two-bone inverse kinematics — an arm or a leg, bent to reach a point —
anim-14's own row.
The textbook three-step algorithm, the same one behind every
off-the-shelf two-bone IK node (Unity's Animation Rigging package
documents the identical three steps under the same name): bend the middle
joint by the difference between its current and desired interior angle
(law of cosines) in whatever plane the chain is already bent in; aim the
root so the now-correctly-bent chain points at the target; twist the whole
chain around the root-target axis so the middle joint lands on the side
pole names. Working from the chain's current bend plane rather than
constructing one from pole up front is what lets this run on top of
whatever Pose already holds — a walk cycle, another IK pass — instead of
only from a bind pose.
Properties
- hashCode → int
-
The hash code for this object.
no setterinherited
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
Methods
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
toString(
) → String -
A string representation of this object.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited