2009

Changing the swivel angle
The angle of the solver plane is actually calculated in one of two coordinate
systems: the Start Joint Parent space or the IK Goal Parent space. World space
is not an explicit option; however, you can easily configure the IK chain to
work in world space by choosing the IK Goal Parent option and making sure
that the IK goal is unlinked (i.e., has no hierarchical parent). In this case, the
IK goal’s parent is the world, and therefore, the solver plane will be computed
in world space.
The swivel angle is animatable. You can adjust it directly, or with a
manipulator. Or you can target the swivel angle to a object and animate that
to affect the swivel angle. These parameters are on the
IK Solver Properties
rollout
on page 3412.
The HI Solver is designed to let the animator jump back and forth between
forward and inverse kinematics quickly and conveniently, with tools to
automatically enable IK and snap the goal to the end effector.
3408 | Chapter 15 Animation