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> Unreal Engine API Reference > Plugins > FullBodyIK

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FullBodyIK

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Classes

	Name	Description
	FFBIKBoneLimit
	FFBIKConstraintOption
	FFBIKDebugOption
	FFBIKEffectorTarget
	FFBIKLinkData
	FFullBodyIKModule
	FJacobianDebugData	This is debug structure for editing time
	FJacobianSolver_FullbodyIK
	FJacobianSolver_PositionRotationTarget_3DOF	This support positional and rotational target using 3 different axis (default coordinate in world space - xyz axis)
	FJacobianSolver_PositionRotationTarget_LocalFrame	This support positional/rotational target using custom frame provided by user.
	FJacobianSolver_PositionRotationTarget_Quat	This support position/rotation target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf)
	FJacobianSolver_PositionTarget_3DOF	Generally each solver is categorized by
	FJacobianSolver_PositionTarget_3DOF_Translation	This support positional target using 3 different axis by translating joint (default coordinate in world space - xyz axis)
	FJacobianSolver_PositionTarget_Quat	This support positional target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf)
	FJacobianSolver_RotationTarget_3DOF	This support rotational target using 3 different axis (default coordinate in world space - xyz axis)
	FJacobianSolver_RotationTarget_Quat	This support rotation target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf)
	FJacobianSolverBase	Jacobian Solver Base Class
	FMotionBase
	FMotionProcessInput
	FPoleVectorConstraint
	FPositionLimitConstraint
	FRotationLimitConstraint
	FSolverInput
	FSolverParameter

Typedefs

Name	Description
ConstraintType
FCalculatePartialDerivativesDelegate	Delegates for core library to use to calculate partial derivatives
FCalculateTargetVectorDelegate	Delegates for core library to use to calculate target vector for end effectors
FPostProcessDelegateForIteration	Post processor for each iteration after resolving the pose This will be used for Applying Constraints, but if you have more you want to do, you can customize this

Enums

	Name	Description
	EConstraintType
	EFBIKBoneLimitType
	EPoleVectorOption
	JacobianIK::EJacobianSolver	Just to be sure, also added this in Eigen.Build.cs.
	JacobianIK::ERotationAxis	Just to be sure, also added this in Eigen.Build.cs.

Functions

		Name	Description
	void	JacobianIK::AllocateMatrix ( Eigen::MatrixXf& InOutMatrix, const TArray< FFBIKLinkData >& InL..., int32 NumLinkComponent, const TMap< int32, FFBIKEffectorTar..., int32 NumEffectorComponent )