Function Karana::Dynamics::Algorithms::constraintKinematicsSolver

• Defined in File Algorithms.h

Function Documentation

kc::ks_ptr<kd::ConstraintKinematicsSolver> Karana::Dynamics::Algorithms::constraintKinematicsSolver(SubGraph &sg)

Return a constraint/inverse kinematics solver instance.

Creates a constraint kinematics (CK) solver for the specified SubGraph and its coordinates and loop constraints. The CK solver uses the CoordData for the SubGraph for the coordinates to solver for. Coordinates can be frozen during the solution process. Only the subhinge coordinates are solved for, and deformation coordinates - if any - are not used.

See the Kinematics Algorithms section for more information.

Parameters:

sg – SubGraph instance

Returns:

The constraint kinematics solver instance