FullBodyIK

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Classes

Name

Description

Public struct UStruct

FFBIKBoneLimit

Public struct UStruct

FFBIKConstraintOption

Public struct UStruct

FFBIKDebugOption

Public struct

FFBIKEffectorTarget

Public struct

FFBIKLinkData

Public class

FFullBodyIKModule

Public struct

FJacobianDebugData

This is debug structure for editing time

Public class

FJacobianSolver_PositionRotationTarget_3DOF

This support positional and rotational target using 3 different axis (default coordinate in world space - xyz axis)

Public class

FJacobianSolver_PositionRotationTarget_LocalFrame

This support positional/rotational target using custom frame provided by user.

Public class

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 )

Public class

FJacobianSolver_PositionTarget_3DOF

Generally each solver is categorized by

Public class

FJacobianSolver_PositionTarget_3DOF_Translation

This support positional target using 3 different axis by translating joint (default coordinate in world space - xyz axis)

Public class

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 )

Public class

FJacobianSolver_RotationTarget_3DOF

This support rotational target using 3 different axis (default coordinate in world space - xyz axis)

Public class

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 )

Public class

FJacobianSolverBase

Jacobian Solver Base Class

Public struct

FMotionBase

Public struct UStruct

FMotionProcessInput

Public struct

FPoleVectorConstraint

Public struct

FPositionLimitConstraint

Public struct

FRotationLimitConstraint

Public struct

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

Public enum

EConstraintType

Public enum UEnum

EFBIKBoneLimitType

Public enum UEnum

EPoleVectorOption

Public enum

JacobianIK::EJacobianSolver

Just to be sure, also added this in Eigen.Build.cs.

Public enum

JacobianIK::ERotationAxis

Just to be sure, also added this in Eigen.Build.cs.

Functions

Name Description

Public function

void

 

JacobianIK::AllocateMatrix

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

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