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
Joint mode at inverse kinematic chain
Re: Joint mode at inverse kinematic chain
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.:
Cheers
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)