Package mindustry.graphics

Class InverseKinematics

java.lang.Object

mindustry.graphics.InverseKinematics

public class InverseKinematics
extends Object

Constructor Summary

Constructors

Constructor	Description
InverseKinematics()

Method Summary

Modifier and Type	Method	Description
static boolean	solve(float lengthA, float lengthB, Vec2 end, boolean side, Vec2 result)
static boolean	solve(float lengthA, float lengthB, Vec2 end, Vec2 attractor, Vec2 result)	inputs:

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

InverseKinematics

public InverseKinematics()

Method Details

solve

public static boolean solve(float lengthA,
 float lengthB,
 Vec2 end,
 boolean side,
 Vec2 result)

solve

public static boolean solve(float lengthA,
 float lengthB,
 Vec2 end,
 Vec2 attractor,
 Vec2 result)

inputs:

Parameters:

lengthA - first line segment length

lengthB - second line segment length

end - length of the endpoint you want to reach

attractor - direction you want the result to be closer to (since there are usually 2 solutions) output:

result - a point in-between (0, 0) and (end) such that (0, 0).dst(result) == lengthA and result.dst(end) == lengthB - or in basic terms, the position of a joint between (0, 0) and end where the two lengths of segments are lengthA and lengthB

Returns:

whether IK succeeded (this can fail if end is too far, for example)