Itasc(IKParam)

base classes — bpy_struct, IKParam

class bpy.types.Itasc.Itasc(IKParam)

Parameters for the iTaSC IK solver

damping_epsilon

Singular value under which damping is progressively applied (higher values=more stability, less reactivity - default=0.1)

Type

float in [0, 1], default 0.0

damping_max

Maximum damping coefficient when singular value is nearly 0 (higher values=more stability, less reactivity - default=0.5)

Type

float in [0, 1], default 0.0

feedback

Feedback coefficient for error correction, average response time is 1/feedback (default=20)

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 rad/s (default=50)

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

  • bpy_struct.id_data

  • IKParam.ik_solver

Inherited Functions

  • bpy_struct.as_pointer

  • bpy_struct.driver_add

  • bpy_struct.driver_remove

  • bpy_struct.get

  • bpy_struct.is_property_hidden

  • bpy_struct.is_property_overridable_library

  • bpy_struct.is_property_readonly

  • bpy_struct.is_property_set

  • bpy_struct.items

  • bpy_struct.keyframe_delete

  • bpy_struct.keyframe_insert

  • bpy_struct.keys

  • bpy_struct.path_from_id

  • bpy_struct.path_resolve

  • bpy_struct.pop

  • bpy_struct.property_overridable_library_set

  • bpy_struct.property_unset

  • bpy_struct.type_recast

  • bpy_struct.values

  • IKParam.bl_rna_get_subclass

  • IKParam.bl_rna_get_subclass_py