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<?xml version="1.0" encoding="UTF-8" ?>
<class name="SkeletonModification2DCCDIK" inherits="SkeletonModification2D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A modification that uses CCDIK to manipulate a series of bones to reach a target in 2D.
</brief_description>
<description>
This [SkeletonModification2D] uses an algorithm called Cyclic Coordinate Descent Inverse Kinematics, or CCDIK, to manipulate a chain of bones in a [Skeleton2D] so it reaches a defined target.
CCDIK works by rotating a set of bones, typically called a "bone chain", on a single axis. Each bone is rotated to face the target from the tip (by default), which over a chain of bones allow it to rotate properly to reach the target. Because the bones only rotate on a single axis, CCDIK [i]can[/i] look more robotic than other IK solvers.
[b]Note:[/b] The CCDIK modifier has [code]ccdik_joints[/code], which are the data objects that hold the data for each joint in the CCDIK chain. This is different from a bone! CCDIK joints hold the data needed for each bone in the bone chain used by CCDIK.
CCDIK also fully supports angle constraints, allowing for more control over how a solution is met.
</description>
<tutorials>
</tutorials>
<methods>
<method name="get_ccdik_joint_bone2d_node" qualifiers="const">
<return type="NodePath" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the [Bone2D] node assigned to the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_bone_index" qualifiers="const">
<return type="int" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the index of the [Bone2D] node assigned to the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_constraint_angle_invert" qualifiers="const">
<return type="bool" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns whether the CCDIK joint at [param joint_idx] uses an inverted joint constraint. See [method set_ccdik_joint_constraint_angle_invert] for details.
</description>
</method>
<method name="get_ccdik_joint_constraint_angle_max" qualifiers="const">
<return type="float" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the maximum angle constraint for the joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_constraint_angle_min" qualifiers="const">
<return type="float" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the minimum angle constraint for the joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_enable_constraint" qualifiers="const">
<return type="bool" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns whether angle constraints on the CCDIK joint at [param joint_idx] are enabled.
</description>
</method>
<method name="get_ccdik_joint_rotate_from_joint" qualifiers="const">
<return type="bool" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns whether the joint at [param joint_idx] is set to rotate from the joint, [code]true[/code], or to rotate from the tip, [code]false[/code]. The default is to rotate from the tip.
</description>
</method>
<method name="set_ccdik_joint_bone2d_node">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="bone2d_nodepath" type="NodePath" />
<description>
Sets the [Bone2D] node assigned to the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="set_ccdik_joint_bone_index">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="bone_idx" type="int" />
<description>
Sets the bone index, [param bone_idx], of the CCDIK joint at [param joint_idx]. When possible, this will also update the [code]bone2d_node[/code] of the CCDIK joint based on data provided by the linked skeleton.
</description>
</method>
<method name="set_ccdik_joint_constraint_angle_invert">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="invert" type="bool" />
<description>
Sets whether the CCDIK joint at [param joint_idx] uses an inverted joint constraint.
An inverted joint constraint only constraints the CCDIK joint to the angles [i]outside of[/i] the inputted minimum and maximum angles. For this reason, it is referred to as an inverted joint constraint, as it constraints the joint to the outside of the inputted values.
</description>
</method>
<method name="set_ccdik_joint_constraint_angle_max">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="angle_max" type="float" />
<description>
Sets the maximum angle constraint for the joint at [param joint_idx].
</description>
</method>
<method name="set_ccdik_joint_constraint_angle_min">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="angle_min" type="float" />
<description>
Sets the minimum angle constraint for the joint at [param joint_idx].
</description>
</method>
<method name="set_ccdik_joint_enable_constraint">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="enable_constraint" type="bool" />
<description>
Determines whether angle constraints on the CCDIK joint at [param joint_idx] are enabled. When [code]true[/code], constraints will be enabled and taken into account when solving.
</description>
</method>
<method name="set_ccdik_joint_rotate_from_joint">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="rotate_from_joint" type="bool" />
<description>
Sets whether the joint at [param joint_idx] is set to rotate from the joint, [code]true[/code], or to rotate from the tip, [code]false[/code].
</description>
</method>
</methods>
<members>
<member name="ccdik_data_chain_length" type="int" setter="set_ccdik_data_chain_length" getter="get_ccdik_data_chain_length" default="0">
The number of CCDIK joints in the CCDIK modification.
</member>
<member name="target_nodepath" type="NodePath" setter="set_target_node" getter="get_target_node" default="NodePath("")">
The NodePath to the node that is the target for the CCDIK modification. This node is what the CCDIK chain will attempt to rotate the bone chain to.
</member>
<member name="tip_nodepath" type="NodePath" setter="set_tip_node" getter="get_tip_node" default="NodePath("")">
The end position of the CCDIK chain. Typically, this should be a child of a [Bone2D] node attached to the final [Bone2D] in the CCDIK chain.
</member>
</members>
</class>
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