#include <ik.h>
Inheritance diagram for ctInverseKinematics:
Public Methods | |
ctInverseKinematics (ctArticulatedBody &pab) | |
virtual void | solve (real t) |
ctVector3 | get_linear_a () |
relative to it's body frame. | |
ctVector3 | get_angular_a () |
void | apply_impulse (ctVector3, ctVector3) |
void | get_impulse_m_and_I_inv (real *, ctMatrix3 *, const ctVector3 &, const ctVector3 &) |
Protected Methods | |
void | solve_IK (real t, ctVector3 &the_goal, ctVector3 &end_effector) |
void | compute_joint_angle (real t, ctVector3 &the_goal, ctVector3 &end_effector) |
Protected Attributes | |
ctArticulatedBody& | ab |
real | max_qv |
Calc velocities to move the end effector to it's goal !me really just a quick hack right now to demonstrate solver abstraction