Itasc(IKParam)¶
base classes — bpy_struct
, IKParam
-
class
bpy.types.
Itasc
(IKParam)¶ Parameters for the iTaSC IK solver
-
damping_epsilon
¶ Singular value under which damping is progressively applied (higher values produce results with more stability, less reactivity)
- Type
float in [0, 1], default 0.0
-
damping_max
¶ Maximum damping coefficient when singular value is nearly 0 (higher values produce results with more stability, less reactivity)
- Type
float in [0, 1], default 0.0
-
feedback
¶ Feedback coefficient for error correction, average response time is 1/feedback
- Type
float in [0, 100], default 0.0
-
iterations
¶ Maximum number of iterations for convergence in case of reiteration
- Type
int in [0, 1000], default 0
-
mode
¶ ANIMATION
Animation, Stateless solver computing pose starting from current action and non-IK constraints.SIMULATION
Simulation, State-full solver running in real-time context and ignoring actions and non-IK constraints.
- Type
enum in [‘ANIMATION’, ‘SIMULATION’], default ‘ANIMATION’
-
precision
¶ Precision of convergence in case of reiteration
- Type
float in [0, 0.1], default 0.0
-
reiteration_method
¶ Defines if the solver is allowed to reiterate (converge until precision is met) on none, first or all frames
NEVER
Never, The solver does not reiterate, not even on first frame (starts from rest pose).INITIAL
Initial, The solver reiterates (converges) on the first frame but not on subsequent frame.ALWAYS
Always, The solver reiterates (converges) on all frames.
- Type
enum in [‘NEVER’, ‘INITIAL’, ‘ALWAYS’], default ‘NEVER’
-
solver
¶ Solving method selection: automatic damping or manual damping
SDLS
SDLS, Selective Damped Least Square.DLS
DLS, Damped Least Square with Numerical Filtering.
- Type
enum in [‘SDLS’, ‘DLS’], default ‘SDLS’
-
step_count
¶ Divide the frame interval into this many steps
- Type
int in [1, 50], default 0
-
step_max
¶ Higher bound for timestep in second in case of automatic substeps
- Type
float in [0, 1], default 0.0
-
step_min
¶ Lower bound for timestep in second in case of automatic substeps
- Type
float in [0, 0.1], default 0.0
-
use_auto_step
¶ Automatically determine the optimal number of steps for best performance/accuracy trade off
- Type
boolean, default False
-
velocity_max
¶ Maximum joint velocity in radians/second
- Type
float in [0, 100], default 0.0
-
classmethod
bl_rna_get_subclass
(id, default=None)¶ - Parameters
id (string) – The RNA type identifier.
- Returns
The RNA type or default when not found.
- Return type
bpy.types.Struct
subclass
-
classmethod
bl_rna_get_subclass_py
(id, default=None)¶ - Parameters
id (string) – The RNA type identifier.
- Returns
The class or default when not found.
- Return type
type
-
Inherited Properties
Inherited Functions