Documentation / scene / IKChain

Class: IKChain

Defined in: libs/scene/src/animation/ik/ik_chain.ts:12

Represents a chain of joints for IK solving.

Constructors

Constructor

new IKChain(nodes): IKChain

Defined in: libs/scene/src/animation/ik/ik_chain.ts:25

Create an IK chain from an array of scene nodes.

Parameters

nodes

SceneNode[]

Array of scene nodes from root to end effector

Returns

IKChain

Accessors

joints

Get Signature

get joints(): IKJoint[]

Defined in: libs/scene/src/animation/ik/ik_chain.ts:100

Get all joints in the chain.

Returns

IKJoint[]

---

root

Get Signature

get root(): IKJoint

Defined in: libs/scene/src/animation/ik/ik_chain.ts:107

Get the root joint (first joint in the chain).

Returns

IKJoint

---

endEffector

Get Signature

get endEffector(): IKJoint

Defined in: libs/scene/src/animation/ik/ik_chain.ts:114

Get the end effector (last joint in the chain).

Returns

IKJoint

---

totalLength

Get Signature

get totalLength(): number

Defined in: libs/scene/src/animation/ik/ik_chain.ts:121

Get the total length of the chain.

Returns

number

---

length

Get Signature

get length(): number

Defined in: libs/scene/src/animation/ik/ik_chain.ts:128

Get the number of joints in the chain.

Returns

number

---

constraints

Get Signature

get constraints(): readonly IKConstraint[]

Defined in: libs/scene/src/animation/ik/ik_chain.ts:195

Get all constraints in the chain.

Returns

readonly IKConstraint[]

Methods

fromNodeHierarchy()

static fromNodeHierarchy(startNode, endNode): IKChain

Defined in: libs/scene/src/animation/ik/ik_chain.ts:71

Create an IK chain by traversing from a start node to an end node.

Parameters

startNode

SceneNode

The root joint of the chain

endNode

SceneNode

The end effector joint

Returns

IKChain

The created IK chain

Remarks

This method walks up the parent chain from the end node until it reaches the start node, building the joint chain in the process.

---

updateFromNodes()

updateFromNodes(): void

Defined in: libs/scene/src/animation/ik/ik_chain.ts:135

Update joint positions from their scene nodes.

Returns

void

---

storeOriginalPositions()

storeOriginalPositions(): void

Defined in: libs/scene/src/animation/ik/ik_chain.ts:144

Store current positions as original positions.

Returns

void

---

restoreOriginalPositions()

restoreOriginalPositions(): void

Defined in: libs/scene/src/animation/ik/ik_chain.ts:154

Restore joints to their original positions.

Returns

void

---

addConstraint()

addConstraint(constraint): void

Defined in: libs/scene/src/animation/ik/ik_chain.ts:166

Add a constraint to a specific joint.

Parameters

constraint

IKConstraint

The constraint to add

Returns

void

---

removeConstraint()

removeConstraint(constraint): boolean

Defined in: libs/scene/src/animation/ik/ik_chain.ts:176

Remove a constraint from the chain.

Parameters

constraint

IKConstraint

The constraint to remove

Returns

boolean

True if the constraint was found and removed

---

clearConstraints()

clearConstraints(): void

Defined in: libs/scene/src/animation/ik/ik_chain.ts:188

Clear all constraints from the chain.

Returns

void

---

applyConstraints()

applyConstraints(): void

Defined in: libs/scene/src/animation/ik/ik_chain.ts:202

Apply all constraints to the joint chain.

Returns

void