IK Solver Constraint¶
The Inverse Kinematics constraint implements the inverse kinematics armature posing technique. Hence, it is only available for bones. To quickly create an IK constraint with a target, select a bone in pose mode, and press Shift-I.
This constraint is fully documented in the Inverse Kinematics page, part of the rigging chapter.
Options¶
Inverse Kinematics panel.
- Target
- Data ID used to select the an armature.
- Pole Target
- Object for pole rotation.
- Iterations
- Maximum number of solving iterations.
- Chain Length
How many bones are included in the IK effect. Set to 0 to include all bones.
- Use Tail
- Include bone’s tail as last element in chain.
- Stretch
- Enable IK stretching.
- Weight
- Position
- For Tree-IK: Weight of position control for this target.
- Rotation
- Chain follow rotation of target.
- Target
- Disable for targetless IK.
- Rotation
- Chain follows rotation of target.
iTaSC Solver¶
If the iTaSC IK Solver is used, the IK Solver Constraint changes to add these addition parameters.
- IK Type
- Copy Pose
Equivalent to the traditional end effector position and orientation constraint: the end effector is constrained to take the position, and optionally the orientation, of a given target, which is set in the target field.
- Position/Rotation Locking
Allows to obtain various effect by not constraining the coordinates along certain axis.
- Axis Ref
Specifies how to compute the axis coordinates.
- Bone
- The coordinates are the position and orientation of the target relative to the bone.
- Target
- The opposite of Bone, the coordinates are the position and orientation of the tip of the bone relative to the target.
- Distance
Specify that the end effector will stay inside, at, or outside a sphere centered on the target object.
- Limit Mode
- Inside
- The end effector will stay inside of the distance from the target object.
- Outside
- The end effector will stay outside of the distance from the target object.
- On Surface
- The end effector will stay exactly at the distance from the target object.
- Distance
- The radius from the target object.
Note
The Influence parameter is not implemented if Pole Target is used.