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API > API/Plugins > API/Plugins/FullBodyIK
Inheritance Hierarchy
- FJacobianSolverBase
- FJacobianSolver_FullbodyIK
- FJacobianSolver_PositionRotationTarget_LocalFrame
- FJacobianSolver_PositionTarget_3DOF
- FJacobianSolver_PositionRotationTarget_3DOF
- FJacobianSolver_PositionTarget_3DOF_Translation
- FJacobianSolver_RotationTarget_3DOF
- FJacobianSolver_PositionTarget_Quat
- FJacobianSolver_PositionRotationTarget_Quat
- FJacobianSolver_RotationTarget_Quat
References
| Module | FullBodyIK |
| Header | /Engine/Plugins/Experimental/FullBodyIK/Source/FullBodyIK/Public/JacobianSolver.h |
| Include | #include "JacobianSolver.h" |
Syntax
class FJacobianSolverBase
Remarks
Jacobian Solver Base Class
This does support two solvers
Jacobian Transpose
Jacobian Pseudo Inverse Damped Least Square (JPIDLS)
By default, we use JPIDLS, but it is cheaper to use Jacobian Transpose at the cost of solver
Variables
| Type | Name | Description | |
|---|---|---|---|
 |
FCalculatePartialDerivativesDelegate | OnCalculatePartialDerivativesDelegate | |
 |
FCalculateTargetVectorDelegate | OnCalculateTargetVectorDelegate | |
 |
FPostProcessDelegateForIteration | OnPostProcessDelegateForIteration |
Constructors
| Type | Name | Description | |
|---|---|---|---|
 |
Destructors
| Type | Name | Description | |
|---|---|---|---|
  |
Functions
| Type | Name | Description | |
|---|---|---|---|
 |
void | ||
   |
void | InitializeSolver
(
TArray< FFBIKLinkData >& InOutLinkData, |
Initialize Solver - allows users to modify data before running the base solver - Check Below |
   |
void | PreSolve
(
TArray< FFBIKLinkData >& InOutLinkData, |
Pre Solve - for each iteration, they run PreSolve. |
 |
void | ||
 |
bool | SolveJacobianIK
(
TArray< FFBIKLinkData >& InOutLinkData, |