Class FABRIK2D

Utility for 2D Forward And Backward Reaching Inverse Kinematics (FABRIK) IK Solver.

Inheritance

object

FABRIK2D

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Namespace: UnityEngine.U2D.IK

Assembly: Unity.2D.IK.Runtime.dll

Syntax

[BurstCompile]
public static class FABRIK2D

Methods

Solve(in float2, int, float, in NativeArray<float>, ref NativeArray<float2>)

Solve IK based on FABRIK

Declaration

[BurstCompile]
public static bool Solve(in float2 targetPosition, int solverLimit, float tolerance, in NativeArray<float> lengths, ref NativeArray<float2> positions)

Parameters

Type	Name	Description
float2	targetPosition	Target position.
int	solverLimit	Solver iteration count.
float	tolerance	Target position's tolerance.
NativeArray<float>	lengths	Length of the chains.
NativeArray<float2>	positions	Chain positions.

Returns

Type	Description
bool	Returns true if solver successfully completes within iteration limit. False otherwise.

Solve(Vector2, int, float, float[], ref Vector2[])

Solve IK based on FABRIK

Declaration

[Obsolete("Use FABRIK2D.Solve(in float2 targetPosition, int solverLimit, float tolerance, in NativeArray<float> lengths, ref NativeArray<float2> positions) instead.")]
public static bool Solve(Vector2 targetPosition, int solverLimit, float tolerance, float[] lengths, ref Vector2[] positions)

Parameters

Type	Name	Description
Vector2	targetPosition	Target position.
int	solverLimit	Solver iteration count.
float	tolerance	Target position's tolerance.
float[]	lengths	Length of the chains.
Vector2[]	positions	Chain positions.

Returns

Type	Description
bool	Returns true if solver successfully completes within iteration limit. False otherwise.

SolveChain(int, ref FABRIKChain2D[])

Solve IK based on FABRIK.

Declaration

public static bool SolveChain(int solverLimit, ref FABRIKChain2D[] chains)

Parameters

Type	Name	Description
int	solverLimit	Solver iteration count.
FABRIKChain2D[]	chains	FABRIK chains.

Returns

Type	Description
bool	True if solver successfully completes within iteration limit. False otherwise.