Joint mode at inverse kinematic chain

[need2know]

Hi,

general question:
distinguishes a inverse kinematic chain between the joint modes "dynamic" and "kinematic", or does it simply not matter for the calculations of the IK?

Greetings

[coppelia]

Hello,

the simIK module doesn't care whether the joint is dynamic or kinematic. All joints are considered when using simIK.addElementFromScene. If you need to exclude a specific joint, you can do it with simIK.setJointMode, e.g.:

Code: Select all

local ikEnv = simIK.createEnvironment()
local ikGroup = simIK.createGroup(ikEnv)
local ikEl, simToIk, ikToSim = simIK.addElementFromScene(ikEnv, ikGroup, modelBase, simTip, simTarget, simIK.constraint_pose)
simIK.setJointMode(ikEnv, simToIk[simJointToExclude], simIK.jointmode_passive)

Cheers