Maven module :un.api : api-physics :
Class : un.api.physic.skeleton.IKSolverCCD
Extends/Implements : un.api.physic.skeleton.IKSolver
Subclasses : -

CCD (Cyclic Coordinate Descent) method to solve IK.
Works by succesive pass moving the nodes rotation until it is close enough.
This method is used in PMD models.
author  Johann Sorel

Variables : -
Functions : IKSolverCCD, getMaxIteration, getMaxAngle, solve


param  maxIteration maximum number of iteration until break out.
the solution might be found sooner.
param  maxAngle maximum angle applied to a joint at each iteration
this avoid having to shark changes between each iteration which
would not produce a good final result.
public void IKSolverCCD (int maxIteration, double maxAngle, int dimension)

public int getMaxIteration ()

public double getMaxAngle ()

public void solve (InverseKinematic ik)