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Package bpy :: Module types :: Class Itasc
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Class Itasc

The bItasc Object

Parameters for the iTaSC IK solver.

(no references to this struct found)

Instance Variables [hide private]
boolean auto_step
Automatically determine the optimal number of steps for best performance/accurary trade off.
float in [0, 1] dampeps
Singular value under which damping is progressively applied.
float in [0, 1] dampmax
Maximum damping coefficient when singular value is nearly 0.
float in [0, 100] feedback
Feedback coefficient for error correction.
enum (readonly) ik_solver
IK solver for which these parameters are defined, 0 for Legacy, 1 for iTaSC. (Inherited from bpy.types.IKParam)
float in [0, 1] max_step
Higher bound for timestep in second in case of automatic substeps.
float in [0, 100] max_velocity
Maximum joint velocity in rad/s.
float in [0, 0.1] min_step
Lower bound for timestep in second in case of automatic substeps.
enum mode
Mode in...
int in [1, 1000] num_iter
Maximum number of iterations for convergence in case of reiteration.
int in [1, 50] num_step
Divides the frame interval into this many steps.
float in [0, 0.1] precision
Precision of convergence in case of reiteration.
enum reiteration
Defines if the solver is allowed to reiterate (converges until precision is met) on none, first or all frames in...
enum solver
Solving method selection: Automatic damping or manual damping in...
Instance Variable Details [hide private]

dampeps

Singular value under which damping is progressively applied. Higher values=more stability, less reactivity. Default=0.1
Type:
float in [0, 1]

dampmax

Maximum damping coefficient when singular value is nearly 0. Higher values=more stability, less reactivity. Default=0.5
Type:
float in [0, 1]

feedback

Feedback coefficient for error correction. Average response time=1/feedback. Default=20.
Type:
float in [0, 100]

max_velocity

Maximum joint velocity in rad/s. Default=50.
Type:
float in [0, 100]

mode

Mode in...
  • ANIMATION
  • SIMULATION
Type:
enum

reiteration

Defines if the solver is allowed to reiterate (converges until precision is met) on none, first or all frames in...
  • NEVER
  • INITIAL
  • ALWAYS
Type:
enum

solver

Solving method selection: Automatic damping or manual damping in...
  • SDLS
  • DLS
Type:
enum

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