Synopsis

#include <AlIKHandleNode.h>

class AlIKHandleNode : public AlDagNode

virtual	~AlIKHandleNode();

virtual AlObject*	copyWrapper() const;

virtual AlObjectType	type() const;

AlIKHandle*	IKHandle() const;

AlIKHandle*	IKHandle(AlTM&) const;

Description

All IK handles (AlIKHandle) have associated DAG nodes (AlDagNode) that define their position and orientation. The AlIKHandleNode class provides an interface to the DAG node above an IK handle.

The position of this DAG node defines the goal position for solving inverse kinematics. The rotation of the AlDagNode has a special function depending on the solver type of the IK handle below.

• For single-chain: the three rotational axes get mapped to a single plane rotation and two pole rotations, depending on the rotation order defined for this IK handle. In particular, the first axis in the handle's rotation order controls the rotation of the plane passing through the root and end-effector nodes. This axis is used to orient the single-chain solution. The second and third axes in the rotation order reorient the up vector of the IK handle. The IK handle up vector defines the axis around which the single-chain IK solution will flip when the end-effector crosses over the line passing through the root and the end-effector. The IK handle rotation order can be accessed through the AlIKHandle class.
• For multi-solver: if the IK handle has an orientation goal, rotating the IK handle controls the orientation of the bone directly above the end-effector. A solution will be found such that the local axes of the end-effector joint attempt to match the local axes of the IK handle.

AlIKHandleNode::~AlIKHandleNode()

AlObject* AlIKHandleNode::copyWrapper() const

AlObjectType AlIKHandleNode::type() const

AlIKHandle* AlIKHandleNode::IKHandle() const

AlIKHandle* AlIKHandleNode::IKHandle(AlTM& tm) const