Navigation
| Name | FullBodyIK |
| Type | Plugin |
| Part of Plugins | Full Body IK |
| Location | /Engine/Plugins/Experimental/FullBodyIK/Source/FullBodyIK/ |
| Module Build Rules | FullBodyIK.Build.cs |
Classes
| Name | Remarks |
|---|---|
| FFullBodyIKModule | |
| FJacobianSolver_FullbodyIK | |
| FJacobianSolver_PositionRotationTarget_3DOF | This support positional and rotational target using 3 different axis (default coordinate in world space - xyz axis) |
| FJacobianSolver_PositionRotationTarget_LocalFrame | This support positional/rotational target using custom frame provided by user. |
| FJacobianSolver_PositionRotationTarget_Quat | This support position/rotation target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf) |
| FJacobianSolver_PositionTarget_3DOF | Generally each solver is categorized by |
| FJacobianSolver_PositionTarget_3DOF_Translation | This support positional target using 3 different axis by translating joint (default coordinate in world space - xyz axis) |
| FJacobianSolver_PositionTarget_Quat | This support positional target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf) |
| FJacobianSolver_RotationTarget_3DOF | This support rotational target using 3 different axis (default coordinate in world space - xyz axis) |
| FJacobianSolver_RotationTarget_Quat | This support rotation target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf) |
| FJacobianSolverBase | Jacobian Solver Base Class |
Structs
| Name | Remarks |
|---|---|
| FFBIKBoneLimit | |
| FFBIKConstraintOption | |
| FFBIKDebugOption | |
| FFBIKEffectorTarget | |
| FFBIKLinkData | |
| FJacobianDebugData | This is debug structure for editing time |
| FMotionBase | |
| FMotionProcessInput | |
| FPoleVectorConstraint | |
| FPositionLimitConstraint | |
| FRotationLimitConstraint | |
| FSolverInput | |
| FSolverParameter |
Typedefs
| Name | Type | Remarks | Include Path |
|---|---|---|---|
| ConstraintType | TVariant< FRotationLimitConstraint, FPositionLimitConstraint, FPoleVectorConstraint > | FBIKConstraint.h | |
| FCalculatePartialDerivativesDelegate | TBaseDelegate_SixParams< FVector, const FFBIKLinkData &, bool, int32, const FFBIKLinkData &, bool, const FSolverParameter & > | Delegates for core library to use to calculate partial derivatives | JacobianIK.h |
| FCalculateTargetVectorDelegate | TBaseDelegate_FourParams< FVector, const FFBIKLinkData &, const FFBIKEffectorTarget &, bool, const FSolverParameter & > | Delegates for core library to use to calculate target vector for end effectors | JacobianIK.h |
| FPostProcessDelegateForIteration | TBaseDelegate_OneParam< void, TArray< FFBIKLinkData > & > | Post processor for each iteration after resolving the pose This will be used for Applying Constraints, but if you have more you want to do, you can customize this | JacobianSolver.h |
Enums
Public
| Name | Remarks |
|---|---|
| EConstraintType | |
| EFBIKBoneLimitType | |
| EPoleVectorOption | |
| JacobianIK::EJacobianSolver | |
| JacobianIK::ERotationAxis |
Functions
Public
| Name | Remarks | Include Path | Unreal Specifiers |
|---|---|---|---|
void JacobianIK::AllocateMatrix
(
Eigen::MatrixXf& InOutMatrix, |
JacobianIK.h |