Documentation / scene / IKJoint

Interface: IKJoint

Defined in: libs/scene/src/animation/ik/ik_joint.ts:9

Represents a joint in an IK chain.

Properties

node

node: SceneNode

Defined in: libs/scene/src/animation/ik/ik_joint.ts:11

The scene node associated with this joint

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position

position: Vector3

Defined in: libs/scene/src/animation/ik/ik_joint.ts:13

Current position in world space (updated during solving)

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originalPosition

originalPosition: Vector3

Defined in: libs/scene/src/animation/ik/ik_joint.ts:15

Original position before solving (for reference)

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rotation

rotation: Quaternion

Defined in: libs/scene/src/animation/ik/ik_joint.ts:17

Current rotation in world space

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originalRotation

originalRotation: Quaternion

Defined in: libs/scene/src/animation/ik/ik_joint.ts:19

Original rotation before solving (for reference)

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boneLength

boneLength: number

Defined in: libs/scene/src/animation/ik/ik_joint.ts:21

Length of the bone from this joint to the next (0 for end effector)

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previousIKRotation?

optional previousIKRotation?: Quaternion

Defined in: libs/scene/src/animation/ik/ik_joint.ts:23

Previous IK world rotation (for twist continuity across frames)

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previousTwist?

optional previousTwist?: number

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

Previous twist angle in radians (for twist smoothing)