2009

For any given position of an end effector, there are many possible IK solutions.

The three joint precedence controls in the Object Parameters rollout are:

Precedence Sets joint precedence manually.

Child->Parent Automatically sets joint precedence to decrease in value from

child to parent.

Parent->Child Automatically sets joint precedence to decrease in value from

parent to child.

Determining Order of Calculations

You control the HD IK solution by setting joint precedence to determine which

joints contribute the most to the HD IK solution and which joints contribute

the least.

■ Joints with high precedence values are calculated first, and contribute more

motion to the HD IK solution.

■ Joints with low precedence values are calculated last and contribute the

least motion to the HD IK solution.

■ Joints with equal precedence values are calculated by order in the hierarchy.

Joints closer to the end effector are calculated first and joints closer to the

root are calculated last.

Of all of the joint parameters, Joint Precedence is the most subtle.