solve
public boolean solve(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPosition,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles)
Solve the IK for a specific body part and the given target pose.
The resulting angles to the joints of the limb represented by the
targetBody are expected to be set along the given body part chain. The
solver is also responsible to not overdrive the joints and limit the
change angles according to the max speeds and angles of the corresponding
joints.
- Specified by:
solve
in interface IAgentIKSolver
- Parameters:
targetBody
- the target body part (representing the limb to
manipulate)
targetPosition
- the target position
targetAngles
- the target angles (may be null if not of interest)
- Returns:
- success