Itasc(IKParam)¶
base classes — bpy_struct
, IKParam
-
class
bpy.types.
Itasc
(IKParam)¶ Parameters for the iTaSC IK solver
-
damping_epsilon
¶ Singular value under which damping is progressively applied (higher values produce results with more stability, less reactivity)
- Type
float in [0, 1], default 0.0
-
damping_max
¶ Maximum damping coefficient when singular value is nearly 0 (higher values produce results with more stability, less reactivity)
- Type
float in [0, 1], default 0.0
-
feedback
¶ Feedback coefficient for error correction, average response time is 1/feedback
- 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
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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 radians/second
- 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
Inherited Functions