9

vi Contents
Tr ansform Script Controller.................................... 379
Waveform Controller .. ............................................ 381
XRef Controller ....................................................... 383
Controller Subdialogs .......................................... 386
Audio Controller D ialog ......................................... 386
Attach Controls Dialog (Block Controller) ............ 388
Barycen tric Morph Controller Key Info Dialog ..... 388
Block Parameters Dialog (Block Controller).......... 389
Master Block Parameters Dialog (Block
Controller)............................................................ 390
Master Track Key Info Dialog (Master Point
Controller)............................................................ 391
Slave Parameters Dialog (Block Controller)........... 391
Track View Pick Dialog (Block Controller) ............ 392
Animation Constraints......................................... 392
Animation Constraints ........................................... 392
At tachment Constraint............................................ 393
Surface Constraint................. .................................. 396
Path Constraint ........... ............................................ 398
Position Constraint ................................................. 401
Link Constraint ....................................................... 403
LookAt Constraint .................................................. 406
Orientation Constraint............................................ 409
Wire Parameters ................................................... 411
Wire Parameters .................... .................................. 411
Parameter Wiring Dialog ........................................ 412
Hierarchies and K inematics ................................. 416
Hierarchies and Kinematics .................................... 416
Hierarchies............................................................ 416
Hierarchies ............... ............................................... 416
Linking Strategy ...................................................... 418
Linking and Unlinking Objects............................ 421
Linking and Unlinking Objects .............................. 421
Select and Link ....................................................... 422
Unli nk Selection ..................................................... 422
Adjusting Pivots .... .................................................. 423
Viewing and Selecting Hierarchies ......................... 424
Animating with For ward K inematics .................. 426
Animating with Forward Kinematics ..................... 426
Using Dummy Objects............................................ 429
Animating Link s...................................................... 430
Adjusting Object Transforms.................................. 432
Locking Objec t Transforms .................................... 433
Animating Attachment ........................................... 433
Changing Link Inheritance..................................... 434
Link Inheritance (Selected) Utility ......................... 435
Animating with Inverse K inematics (IK) ............. 435
Inverse Kinematics (IK) .......................................... 435
IK Terminology ....................................................... 437
IK Methods ............................................................ 439
Inverse Kinematics Methods................................... 439
IK Solvers ............................................................... 440
IK Solvers................................................................. 440
History-Independent (HI) IK Solver ..................... 446
History-Independent (HI) IK Solver...................... 446
White Paper: Swivel Angle of the HI IK Solver ...... 449
HI IK Solver Rollouts (Motion Panel)................... 453
IK Solver Rollout (HI S olver).................................. 453
IK Solver Properties Rollout (HI Solver)................ 456
IK Display Options Rollout (HI Solver) ................. 458
Sliding and Rotational Joints (HI Solver) ............... 459
History-Dependent (HD) IK .................................. 461
History-Dependent (HD) IK Solver....................... 461
Binding Objects (HD Solver).... ........................... ... 461
Controlling IK Precision (HD Solver) .................... 463
HD Solver Motion Panel Rollouts........................... 463
HD Joint Settings.................................................. 466
HD Joint Settings........................................... .......... 466
Setting Joint Precedence (HD Solver)..................... 467
Using Default Joint Precedence (HD Solver).......... 468
Choosing Child-to-Parent Precedence (HD
Solver)................................................................... 469
Choosing Parent-to-Child Precedence (HD
Solver)................................................................... 470
Setting Precedence Manually (HD Solver) ............. 471
Terminating Chains (HD Solver)............................ 471
IK Limb Solver ....................................................... 472
IK Limb Solver.................................. ....................... 472
Spline IK ................................................................ 473
Spline IK .................................................................. 473
Spline IK Solver Dialog ........................................... 477
Spline IK Solver Rollouts......................................... 478
Interactive and Applied IK ................................... 480
Animating with Interactive IK ................................ 480
Animating with Applied IK..................................... 481
Joint Controls ........................................................ 483
Setting Joint Parameters.......................................... 483
Activati ng Joint Axes............................................... 485
Limiting Joint Action .............................................. 486
Hierarchy Panel Commands................................. 487
Hierarchy Panel Commands................................... 487
Pivot....................................................................... 487
Pivot ........................................................................ 487
Adjust Pivot Rollout ........................ ....................... 488
Adjust Transform Rollout ....................................... 489
IK............................................................................ 491
IK ............................................................................ 491
HD IK Solver Rollouts ........................................... 491