instantreality 1.0

interface only
Structure type:


A specialized HAnimSite node for handling inverse kinematics (IK).



XML encoding
<HAnimIKSite fraction='0'
target='0 0 0'
targetRotation='0 0 0 1'
aimingTranslation='0 0 0'
aimingRotation='0 0 0 1'
center='0 0 0'
rotation='0 0 1 0'
scale='1 1 1'
scaleOrientation='0 0 1 0'
translation='0 0 0'
bboxCenter='0 0 0'
bboxSize='-1 -1 -1'
Classic encoding
HAnimIKSite {
	fraction 0
	target 0 0 0
	targetRotation 0 0 0 1
	aimingTranslation 0 0 0
	aimingRotation 0 0 0 1
	numJoints 3
	motionPathTension -0.4
	motionPathShape "auto"
	minTurnAngle 0.2
	maxTurnAngle 1.5
	turnFactor 0.6
	jointNames [""]
	name ""
	center 0 0 0
	rotation 0 0 1 0
	scale 1 1 1
	scaleOrientation 0 0 1 0
	translation 0 0 0
	invert FALSE
	showProxyGeometry FALSE
	bboxCenter 0 0 0
	bboxSize -1 -1 -1
	render TRUE
	showBBox FALSE
	logFeature [""]


Filter: X3D only | Avalon only | All
id Name DataType PartType Default ValueType Description
SFFloat fraction SFFloat inputOutput 0 This field can be set to float values between 0 (start) and 1 (end) to animate the avatar with this HAnimIKSite.
SFVec3f target SFVec3f inputOutput 0 0 0 Defines the position of the target to aim to or to touch.
SFRotation targetRotation SFRotation inputOutput 0 0 0 1 In case of touching (not aiming at) a target, this field defines the rotation of the target.
SFVec3f aimingTranslation SFVec3f inputOutput 0 0 0 You may not want to aim a target with the center of the parent joint of this HAnimIKSite. With this you can define a translation of the end effector (maybe to define a point lieing between the eyes or in the hand).
SFRotation aimingRotation SFRotation inputOutput 0 0 0 1 Similar to aimingTranslation, this field defines the rotation of the end effector relative to the rotation of the parent of this HAnimIKSite.
SFInt32 numJoints SFInt32 inputOutput 3 This field defines the length of the kinematic chain. Currently only 1- and 3-joint kinematic chains are possible.
SFFloat motionPathTension SFFloat inputOutput -0.4 Defines the tension of the motion path (in the sense of the Kochanek-Bartels spline tension parameter). The value is a float between -1 and 1.
SFString motionPathShape SFString inputOutput auto [auto, quadratic, cubic] Determines the shape of the motion path. Currently two methods are implemented: quadratic and cubic curves.
SFFloat minTurnAngle SFFloat inputOutput 0.2 This is the minimal angle, the target has to be away, so that the torso turns.
SFFloat maxTurnAngle SFFloat inputOutput 1.5 This is the maximal angle the torso turns.
SFFloat turnFactor SFFloat inputOutput 0.6 This is the factor, by which the turn angle is decreased.
MFString jointNames MFString inputOutput Pass the names of the involved joint, e.g. one name for the vl5-joint.
SFMatrix4f matrix_changed SFMatrix4f outputOnly The matrix that defines the nodes transformation after an update.
SFBool invert SFBool inputOutput FALSE inverts matrix if true
SFBool showProxyGeometry SFBool inputOutput FALSE show cartesian coordinate system
SFBool render SFBool inputOutput TRUE Flag to control the visibility of the node or subtree
SFBool showBBox SFBool inputOutput FALSE Show Bounding Box of Subtree.
MFString logFeature MFString inputOutput state, child, parent, route, eventIn, eventOut controls the logging of changes, state: log state changes (e.g. live), child: log child add/remove, parent: log parent add/remove, route: log route add/remove; eventIn: log receiving of events, eventOut: log sending of events: guiView, runtime system should create node-view, guiEdit: runtime system should create node-editeverything: log everything