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Spline IK 473

TheIKLimbsolverworksnotonlywithbone

hierarchies, but with any linked hierarchy t hat has

at least three elements, a nd is set up to model a

human limb. The additional requirements are:

• The first joint is "spherical." That is, it has three

degrees of freedom.

• The second joint is "revolute," a robotics term

that means it is based on a pin and has one

degree of freedom.

The IK Limb solver uses the same controls as

the HI Solver, so it al lows for mixing periods

of forward and inverse kinematics in the same

animation period. It does not use the HD Solver

methods of damping , precedence, and setting joint

limits, instead it has a prefer red a ngle parameter,

swivel plane and IK/FK Enabling.

The IK Limb solver can be exported directly to a

game engine.

Pr ocedur es

To a pply a IK l imb solv er:

Create a chain t hat has three bones.

2. Select the root of the chain.

3. From the Animation menu, choose IK Solvers

>IKLimbSolver.

4. In the viewport, move the mouse. You will see a

dotted line attached to the cursor as you move

the mouse.

5. Click the third b one in the chain, or any bone

after the third bone.

The IK Limb solver displays on the bone chain.

The IK Limb solver only affects two bones in

thechain,butyouneedtoselectthethirdbone

to put it on the other two bones.

To animate an IK limb solver chain:

Apply the IK Limb solver to a two bone chain,

with joint limits as described abov e.

2. Select the goal.

3. Move or rotate the goal.

Interfa ce

The Interface for the IK Limb solver is identical

to that of the HI Solver.

Select the goa l at the end of the chain, and

open the Motion panel. Here you will see the

controls for the IK Limb solver. (The fourth is

available from the Hierarchy > IK panel when a

bone is selected.)