goldst/ik.ts

TypeScript / JavaScript fast iterative solver for Inverse Kinematics

ik.ts's Issues

How to move an existing chain and target?

Hello!

I have been trying to implement this library, I have it working if I re-create the chain/bones each frame. However, trying to preserve the structure, chain3d etc I get some weird results...

  createIKStructure() {
    const segment = this.segment;
    this.ikLegTarget = new IK.V3(this.footPosition.x, this.footPosition.y, this.footPosition.z); // or IK.V2
    this.ikLeg = new IK.Chain3D(); // or Chain2D
    this.ikLeg.setFixedBaseMode(true);
    const leg = this.ikLeg; // or Chain2D
    // with start position, direction and length:
    const baseBoneA = new IK.Bone3D( // or Bone2D
        new IK.V3(segment.x, segment.y, segment.z), // start position. Use IK.V2 if you are using Chain2D.
        undefined,          // no end position given
        new IK.V3(0, 1, 0), // direction. Use IK.V2 if you are using Chain2D.
        1                   // length
    );
    leg.addBone(baseBoneA);
    leg.addConsecutiveBone(
        new IK.V3(0, -1, 0), // direction. Use IK.V2 if you are using Chain2D.
        1               // length
    );
    this.structure = new IK.Structure3D(); // or Structure2D
    this.structure.add(leg, this.ikLegTarget);
  }

  update(delta) {
    this.createIKStructure(); // only works if i do this, below lines seem to do nothing/produce buggy results
    leg.baseLocation.set(segment.x, segment.y, segment.z);

    this.ikLegTarget.set(this.footPosition.x, this.footPosition.y, this.footPosition.z); // or IK.V2

    this.structure.update();
  }

As you can see from this rough snippet, I tried using a few methods to reset the base location and others. Doesnt seem to do much besides produce buggy results. Re-creating everything produces the correct result from what I can see. Any ideas how to approach this?