2009

manipulate mode. This determines an up-vector handle for the chain, which
can also be animated over time. You can also define a target for the swivel
angle manipulator to follow. For more information, see
White Paper: Swivel
Angle of the HI IK Solver
on page 3397.
Terminators You can explicitly set the base of an HD (History-Dependent)
IK chain by defining one or more objects as terminators. A terminator object
stops the IK calculations so that objects higher up the hierarchy are unaffected
by the IK solution. Terminator objects are also used to define hierarchies that
use multiple HD IK chains.
Terminator objects are not used in HI Solvers or IK Limb Solvers. In these cases
the termination is determined by the end joint of the chain.
Bound Objects Objects in your hierarchy can be bound to the world, or they
can be bound to other objects called
follow objects on page 7985.
Binding allows objects in your hierarchy to be influenced by objects that are
not part of the hierarchy.
■ An object bound to the world will attempt to maintain its current position
and orientation.
■ An object bound to a follow object will attempt to match the position and
orientation of the follow object.
■ You can bind to a follow object when you use an HD Solver, or when
Applied IK is used. If you want to bind to a follow object when using an
HI or IK Limb Solver, apply a position constraint between the goal and
any follow object of your choice (usually a point, dummy, spline, or bone).
Enabled IK (HI Solver) When using the HI Solver, you can animate with either
inverse kinematics or forward kinematics (FK). When Enabled is turned on,
inverse kinematics controls the chain, and keyframes are placed only on the
goal. When Enabled is turned off, forward kinematic rotational keys are placed
on all the bones.
IK/FK Snap (HI Solver) When using the HI Solver, if you animate using both
IK and FK, you might create a situation where the goal has moved away from
the end of the chain, causing a jump in the animation. Pressing IK/FK Snap
will result in the goal being moved back to match the position of the end
effector, eliminating the jump in the animation.
IK for FK pose (HI Solver) When this button is turned on, moving the goal
automatically sets rotation keys for the bones. In effect, this lets you use IK
manipulation to create your pose, setting FK keys.
Inverse Kinematics (IK) | 3379