2009

When the Enabled button is on, the FK subcontroller values are preserved but
ignored. When Enabled is turned off, the FK subcontroller values apply. To
access the Enabled button, select the goal and go to the Motion panel, then
turn off the Enabled button. This will allow you to animate using FK rotations
of the bones or hierarchy objects.
IK for FK pose allows one to turn on IK in middle of FK manipulation. When
the Enabled button is turned off, and IK for FK Pose is on, then selecting and
moving the goal lets you use IK to create the forward kinematic keyframes.
Moving the goal poses the skeleton and add rotation keys to all the objects
in the chain when the Auto Key button is on.
When working with IK and FK together it is possible to create a situation where
the goal has moved away from the end of the chain. Use the IK/FK snap button
to reposition the goal, snapping it back to the end of the chain. When
AutoSnap is on, the snap happens automatically; when you touch the goal,
you don't have to click the IK/FK snap button.
Controlling HI IK Precision
When you are animating with HI Solvers, if you find the animation of the
limbs is not smooth, you should try doubling the Iterations in the Solutions
group of the
HI Solver Properties rollout on page 3412. You can also try reduce
the Thresholds value to smooth the animation.
See also:
■ IK Solver Rollout (HI Solver) on page 3407
White Paper: Swivel Angle of the HI IK Solver
The fundamental requirement of HI Solver is that the solution be
history-independent: the solution has to be based on the goal and other
incidental parameters solely at their current states.
Swivel Angle Degree of Freedom
When the positional goal is given for a single chain, there remains an obvious
degree of freedom: the rotation about the End Effector Axis (EE Axis). The
swivel angle is used to describe this degree of freedom quantitatively.
Inverse Kinematics (IK) | 3397