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

Inverse kinematic object.
Defines the chain of joints making the 'arm'.

@author Johann Sorel

Variables : -
Functions : InverseKinematic, getTarget, getEffector, getChain, solve


param  target target joint
param  effector effector joint
param  joints joints in the chain, must be in the effector -> base order, does not contain the effector
param  solver inverse kinematic solver
public void InverseKinematic (Joint target, Joint effector, Joint[] joints, IKSolver solver)


Get the target joint.
The position that the effector is trying to reach.
return  Joint.
public Joint getTarget ()


Get the effector joint.
The last joint in the kinematic chain. trying to reach the target joint.
return  Joint.
public Joint getEffector ()


Get the joints in the kinematic chain.
return  Joint[]
public Joint[] getChain ()


Solve the inverse kinematic.
Call it to solve the kinematic when the target position has change.
public void solve ()