<?xml version="1.0" encoding="UTF-8" ?> <class name="SkeletonModification2DCCDIK" inherits="SkeletonModification2D" version="3.12"> <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" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="get_ccdik_joint_bone_index" qualifiers="const"> <return type="int" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="get_ccdik_joint_constraint_angle_invert" qualifiers="const"> <return type="bool" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="get_ccdik_joint_constraint_angle_max" qualifiers="const"> <return type="float" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="get_ccdik_joint_constraint_angle_min" qualifiers="const"> <return type="float" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="get_ccdik_joint_enable_constraint" qualifiers="const"> <return type="bool" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="get_ccdik_joint_rotate_from_joint" qualifiers="const"> <return type="bool" /> <argument index="0" name="joint_idx" type="int" /> <description> </description> </method> <method name="set_ccdik_joint_bone2d_node"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="bone2d_nodepath" type="NodePath" /> <description> </description> </method> <method name="set_ccdik_joint_bone_index"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="bone_idx" type="int" /> <description> </description> </method> <method name="set_ccdik_joint_constraint_angle_invert"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="invert" type="bool" /> <description> </description> </method> <method name="set_ccdik_joint_constraint_angle_max"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="angle_max" type="float" /> <description> </description> </method> <method name="set_ccdik_joint_constraint_angle_min"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="angle_min" type="float" /> <description> </description> </method> <method name="set_ccdik_joint_enable_constraint"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="enable_constraint" type="bool" /> <description> </description> </method> <method name="set_ccdik_joint_rotate_from_joint"> <return type="void" /> <argument index="0" name="joint_idx" type="int" /> <argument index="1" name="rotate_from_joint" type="bool" /> <description> </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 amount 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> <constants> </constants> </class>