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  3. FullBodyIK

FullBodyIK

API > API/Plugins

Classes

  Type Name Description
Public struct UStruct FFBIKBoneLimit    
Public struct UStruct FFBIKConstraintOption    
Public struct UStruct BlueprintType FFBIKDebugOption    
Public struct FFBIKEffectorTarget    
Public struct FFBIKLinkData    
Public class FFullBodyIKModule    
Public struct FJacobianDebugData This is debug structure for editing time  
Public class FJacobianSolver_FullbodyIK    
Public class FJacobianSolver_PositionRotationTarget_3DOF This support positional and rotational target using 3 different axis (default coordinate in world space - xyz axis)  
Public class FJacobianSolver_PositionRotationTarget_LocalFrame This support positional/rotational target using custom frame provided by user.  
Public class 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)  
Public class FJacobianSolver_PositionTarget_3DOF Generally each solver is categorized by  
Public class FJacobianSolver_PositionTarget_3DOF_Translation This support positional target using 3 different axis by translating joint (default coordinate in world space - xyz axis)  
Public class 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)  
Public class FJacobianSolver_RotationTarget_3DOF This support rotational target using 3 different axis (default coordinate in world space - xyz axis)  
Public class 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)  
Public class FJacobianSolverBase Jacobian Solver Base Class  
Public struct FMotionBase    
Public struct UStruct BlueprintType FMotionProcessInput    
Public struct FPoleVectorConstraint    
Public struct FPositionLimitConstraint    
Public struct FRotationLimitConstraint    
Public struct UStruct BlueprintType FSolverInput    
Public struct FSolverParameter    

Typedefs

Name Description
ConstraintType  
FCalculatePartialDerivativesDelegate Delegates for core library to use to calculate partial derivatives
FCalculateTargetVectorDelegate Delegates for core library to use to calculate target vector for end effectors
FPostProcessDelegateForIteration 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

Enums

  Type Name Description
Public enum EConstraintType    
Public enum UEnum EFBIKBoneLimitType    
Public enum UEnum EPoleVectorOption    
Public enum JacobianIK::EJacobianSolver    
Public enum JacobianIK::ERotationAxis    

Functions

  Type Name Description
Public function void

JacobianIK::AllocateMatrix ( Eigen::MatrixXf& InOutMatrix,
const TArray< FFBIKLinkData >& InLinkData,
int32 NumLinkComponent,
const TMap< int32, FFBIKEffectorTarget >& InEndEffectors,
int32 NumEffectorComponent
)

  

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