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title: CCDIKSolver category: Addons layout: docs

CCDIKSolver

This class solves the Inverse Kinematics Problem with a CCD Algorithm.

CCDIKSolver is designed to work with instances of SkinnedMesh.

Import

CCDIKSolver is an addon, and must be imported explicitly, see Installation#Addons.

import { CCDIKSolver } from 'three/addons/animation/CCDIKSolver.js';

Constructor

new CCDIKSolver( mesh : SkinnedMesh, iks : Array.<CCDIKSolver~IK> )

mesh | The skinned mesh.
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iks | The IK objects. Default is [].

Properties

.iks : SkinnedMesh

The IK objects.

.mesh : SkinnedMesh

The skinned mesh.

Methods

.createHelper( sphereSize : number ) : CCDIKHelper

Creates a helper for visualizing the CCDIK.

sphereSize | The sphere size.
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Returns: The created helper.

.update( globalBlendFactor : number ) : CCDIKSolver

Updates all IK bones by solving the CCD algorithm.

globalBlendFactor | Blend factor applied if an IK chain doesn't have its own .blendFactor. Default is 1.0.
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Returns: A reference to this instance.

.updateOne( ik : CCDIKSolver~IK, overrideBlend : number ) : CCDIKSolver

Updates one IK bone solving the CCD algorithm.

ik | The IK to update.
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overrideBlend | If the IK object does not define blendFactor, this value is used. Default is 1.0.

Returns: A reference to this instance.

Type Definitions

.BoneLink

This type represents bone links.

index
number | The index of a linked bone which refers to a bone in the Skeleton.bones array.
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limitation
number | Rotation axis.
rotationMin
number | Rotation minimum limit.
rotationMax
number | Rotation maximum limit.
enabled
boolean | Whether the link is enabled or not. Default is true.

.IK

This type represents IK configuration objects.

target
number | The target bone index which refers to a bone in the Skeleton.bones array.
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effector
number | The effector bone index which refers to a bone in the Skeleton.bones array.
links
Array.<CCDIKSolver~BoneLink> | An array of bone links.
iteration
number | Iteration number of calculation. Smaller is faster but less precise. Default is 1.
minAngle
number | Minimum rotation angle in a step in radians.
maxAngle
number | Minimum rotation angle in a step in radians.
blendFactor
number | The blend factor.

Source

examples/jsm/animation/CCDIKSolver.js