IKRig
A full body inverse kinematics rig definition for a single skeleton.
Declaration
struct IKRigOverview
Describes the skeleton, its tuning, and the active constraints for the solver instance.
Balance of demands’ weights in a full body solver
The full body solver calculates the final pose by balancing the various demands based on their assigned weights. This process ensures that each demand, ranging from forward kinematics (FK) demands to constraints on joint movement, affects the pose proportionally to its importance.
The solver reads the FK demands from the SkeletalPosesComponent. As such these demands are either a playing animation for the model, or just a static pose.
All demands have an element specific weight, and some have a global rig weight. The rig weights influence the overall rig, while element weights adjust individual aspects of the model.
The table below provides detailed mappings of these weights to their respective demand types.
Demand type | Rig weight | Element weight |
|---|---|---|
FK demands | ||
Joint rotation limits | ||
Constraint position | Not applicable | |
Constraint orientation | Not applicable |