8

IK Solver Proper ties Rollout (HI Solver) 437
Enabledisturnedoff,theFKvaluesareused.You
can animate Enabled On and Off.
Use this to turn off the chain control by the goal,
whenyouwanttodoforwardrotations.
IK for FK Pose—LetsyouturnonIKinmiddle
of FK manipulation. When Enabled is off and
IKforFKPoseison,movingthegoalwillturn
on IK automatically in the middle of an FK
manipulation. The result of this is that all the FK
subcontrollers receive values from the IK solution.
Keys are placed on the hierarch y objects or the
bones, not on the goal. When both Enabled and
IK for FK Pose are turned off, moving the goal
doesnotaffectthechainatall.
IK /FK Snap—Pressing this button performs an IK
snap when in FK mode, and an FK snap in IK
mode.
IK S nap—If the goal has moved away from the end
of the chain, pressing IK/FK Snap moves the goal
to coincide w ith the end link position.
FK Snap—The values of FK subcon trollers are
suppressed b y the solution of IK when IK is
on (Enabled is on). Their values don’t always
correspond to the current pose of the chain. If you
turn off Enabled, the values of FK subcontrollers
will suddenly take over. This can cause the chain
tojump.FKSnap,beforeEnabledisturnedon,
forces the FK subcontrollers to assume values from
the current pose (which is determined by the IK.)
This eliminates the jump in the chain’s animation.
Auto S nap—When A uto Snap is turned on, an
IK/FK snap will automatically be applied before
you turn Enabled on or off. If Auto Snap is not
turned on, you will have to press IK/FK Snap
before changing Enabled, otherwise the chain will
jump.
Preferred Angles group
SetAs Pref Angles—Sets the preferred angle for each
bone in the HI IK chain. The current p arent-space
rotation of each bone is placed into its X, Y, and Z
Preferred Angle rotation channels as seen in the
Rotational Joint rollout of the Hierarchy|IK panel.
This is useful for establishing a perfect
match
frame (page 3–1063)
when transitioning between
for ward and inverse kinematics.
Assu me Pref Angles —CopiestheX,Y,andZ
preferred angle channels of each bone and places
them into its FK rotation subcontroller. This
essentially per forms the inverse operation of the
SetAsPrefAnglesfunction.
Bone Joints group
Allows you to change the ends of the IK chain.
Pick Star t Joint—Defines one end of the IK chain.
Select from the viewport or by name (press H).
Pick End Joint—Defines the other end of the IK
chain. The direction of the chain is defined by the
hierarchy, not by Start and End Joint. Select from
theviewportorbyname(pressH).
Wa rn in g: If you change the Start or End Joints so the IK
Limb Solver so there are more than two bones between
the start and end, the solver will not work. Moving the IK
goal will not affect the bones.
Tip:
The Order of the Hierarchy determines the
direction of the chain. You cannot reverse the
direction of the chain by picking Bone 10 as the
start and Bone 1 as the end.
IK S olv er P ropert ies Rol lout (HI
Solver)
SelectendeffectorofanHIIKchain.>Motionpanel>
Parameters button > IK Solver Properties rollout
Here are the additional controls for the HI IK
solver. The IK Solver Plane is controlled here
through the Swivel Angle, which can be animated
directly or using a target object.