alias_api.AlIKHandleNode

class alias_api.AlIKHandleNode

Bases: AlDagNode

Interface to dag nodes of IK handles.

All AlIKHandles have an associated AlDagNode which define their position and orientation. This class provides an interface to the AlDagNode above an AlIKHandle.

The position of this AlDagNode defines the goal position for solving the inverse kinematics. The rotation of this AlDagNode has a special function depending on the solver type of the IK handle below.

Single-chain: the three rotational axes get mapped to a single plane rotation and two pole rotations, depending on the rotation order defined for this IK handle. In particular, the first axis in the handle’s rotation order controls the rotation of the plane passing through the root and end-effector nodes, which is used to orient the single-chain solution. The second and third axes in the rotation order reorient the up vector of the IK handle. The IK handle up vector defines the axis around which the single-chain IK solution will flip when the end-effector crosses over the line passing through the root and the end-effector. The IK handle rotation order can be accessed through the AlIKHandle class.

Multi-solver: if the IK handle has an orientation goal, rotating the IK handle controls the orientation of the bone directly above the end-effector. A solution will be found such that the local axes of the end-effector joint attempt to match the local axes of the IK handle.

copy_wrapper(self: alias_api.AlIKHandleNode) → alias_api.AlObject

Return an exact duplicate of this AlIKHandleNode wrapper.

ik_handle(*args, **kwargs)

Overloaded function.

  1. ik_handle(self: alias_api.AlIKHandleNode) -> alias_api.AlIKHandle

  2. ik_handle(self: alias_api.AlIKHandleNode, arg0: alias_api.AlTM) -> alias_api.AlIKHandle

type(self: alias_api.AlIKHandleNode) → alias_api.AlObjectType

Return the AlIKHandleNode type identifier.