fabrik3d_solve_primitive
Functions
- fabrik3d_solve_primitive(size, positions, lengths, origin_x, origin_y, origin_z, target_x, target_y, target_z, [max_iterations], [distance_tolerance])
Implementation of FABRIK algorithm, "Forward And Backward Reaching Inverse Kinematics" This implementation deals with single chain at a time, without support for multiple effectors see "FABRIK: a fast, iterative solver for inverse kinematics"
- reach_out(size, positions, lengths, origin_x, origin_y, origin_z, target_x, target_y, target_z)
- is_reachable(size, lengths, origin_x, origin_y, origin_z, target_x, target_y, target_z)
- compute_direction(result, result_offset, positions, offsetA, offsetB)
Produced vector normalize(B-A)
- solve_forward(size, positions, lengths, origin_x, origin_y, origin_z)
- solve_backward(size, positions, lengths, target_x, target_y, target_z)
fabrik3d_solve_primitive(size, positions, lengths, origin_x, origin_y, origin_z, target_x, target_y, target_z, [max_iterations], [distance_tolerance])
Implementation of FABRIK algorithm, "Forward And Backward Reaching Inverse Kinematics" This implementation deals with single chain at a time, without support for multiple effectors see "FABRIK: a fast, iterative solver for inverse kinematics"
Kind: global function
| Param | Type | Description |
|---|---|---|
| size | number | number of points in the chain |
| positions | Float32Array | Array.<number> | |
| lengths | Float32Array | Array.<number> | |
| origin_x | number | |
| origin_y | number | |
| origin_z | number | |
| target_x | number | |
| target_y | number | |
| target_z | number | |
| [max_iterations] | number | More steps will lead to higher accuracy, but at the cost of computation. Generally solution will be reached in just a few iteration so this is just a ceiling |
| [distance_tolerance] | number | Minimum squared distance to be achieved to the target, used to terminate earlier before maximum number of iterations is reached |
reach_out(size, positions, lengths, origin_x, origin_y, origin_z, target_x, target_y, target_z)
Kind: global function
| Param | Type | Description |
|---|---|---|
| size | number | number of points in the chain |
| positions | Float32Array | Array.<number> | |
| lengths | Float32Array | Array.<number> | |
| origin_x | number | |
| origin_y | number | |
| origin_z | number | |
| target_x | number | |
| target_y | number | |
| target_z | number |
is_reachable(size, lengths, origin_x, origin_y, origin_z, target_x, target_y, target_z)
Kind: global function
| Param | Type |
|---|---|
| size | number |
| lengths | Array.<number> |
| origin_x | number |
| origin_y | number |
| origin_z | number |
| target_x | number |
| target_y | number |
| target_z | number |
compute_direction(result, result_offset, positions, offsetA, offsetB)
Produced vector normalize(B-A)
Kind: global function
| Param |
|---|
| result |
| result_offset |
| positions |
| offsetA |
| offsetB |
solve_forward(size, positions, lengths, origin_x, origin_y, origin_z)
Kind: global function
| Param | Type |
|---|---|
| size | number |
| positions | Float32Array |
| lengths | Float32Array | Array.<number> |
| origin_x | number |
| origin_y | number |
| origin_z | number |
solve_backward(size, positions, lengths, target_x, target_y, target_z)
Kind: global function
| Param | Type |
|---|---|
| size | number |
| positions | Float32Array |
| lengths | Float32Array | Array.<number> |
| target_x | number |
| target_y | number |
| target_z | number |