# Ограничение «Обратной кинематики»#

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.

Примечание

The IK constraints are special in that they modify multiple bones. For this reason, they ignore their position in the stack and always run after all other constraints on the affected bones. To apply constraints after IK, it is necessary to first copy the final transformation to a new bone chain, e.g. using Copy Transforms.

## Опции#

Цель (target)

Идентификатор данных used to select the an armature. See common constraint properties for more information.

Pole Target

Объект для вращения полюса.

Итерации

Максимальное количество повторов вычисления.

Chain Length

How many bones are included in the IK effect. Set to 0 to include all bones.

Использовать хвост

Include bone’s tail as last element in chain.

Stretch

Enable IK stretching.

Положение веса (Weight Position)

For Tree-IK: Weight of position control for this target.

Вращение (rotation)

Chain follows rotation of target.

Цель (target)

Disable for targetless IK.

Influence

Controls the percentage of affect the constraint has on the object. See common constraint properties for more information.

### 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.

Блокировка положения/вращения

Allows to obtain various effect by not constraining the coordinates along certain axis.

Ссылка на ось

Specifies how to compute the axis coordinates.

Кость (bone)

The coordinates are the position and orientation of the target relative to the bone.

Цель (target)

The opposite of Bone, the coordinates are the position and orientation of the tip of the bone relative to the target.

Расстояние (distance)

Specify that the end effector will stay inside, at, or outside a sphere centered on the target object.

Установка предела (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.

На поверхность

The end effector will stay exactly at the distance from the target object.

Расстояние (distance)

Радиус от целевого объекта.

Примечание

The Influence parameter is not implemented if Pole Target is used.