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