Add Deterministic option to IterateIK3D#112524
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Reviewed the enhancement a little.
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This PR is stacked and depends on the BoneExpander3D change that I haven't reviewed yet. I reviewed the second commit, and it seems simple, basically resetting the chain settings every frame.
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Looks like legacy doc changes were left in. These'll need to be removed first
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Just needs a rebase stripping the first commit now that #111815 is merged |
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If deterministic option is
true, the previous frame's result is discarded. At this point, the new result is calculated from the bone pose excluding the IterateIK3D as the initial state. This means the result will be always equal as long as the target position and the previous bone pose are the same. However, ifangular_delta_limitandmax_iterationsare set too small, the end bone of the chain will never reach the target.Setting deterministic option is
trueandangular_delta_limitto 180 degrees will produce the same results as the old SkeletonIK in FABRIK.Deterministic FABRIK3D:
Old SkeletonIK3D:
(As I mentioned in #110120 (comment), the handling of Tips differs）