Itasc(IKParam)

base classes — bpy_struct, IKParam

class bpy.types.Itasc(IKParam)

Parameters for the iTaSC IK solver

damping_epsilon

Singular value under which damping is progressively applied (higher values produce results with more stability, less reactivity) (in [0, 1], default 0.0)

Type:

float

damping_max

Maximum damping coefficient when singular value is nearly 0 (higher values produce results with more stability, less reactivity) (in [0, 1], default 0.0)

Type:

float

feedback

Feedback coefficient for error correction, average response time is 1/feedback (in [0, 100], default 0.0)

Type:

float

iterations

Maximum number of iterations for convergence in case of reiteration (in [0, 1000], default 0)

Type:

int

mode

(default 'ANIMATION')

  • ANIMATION Animation – Stateless solver computing pose starting from current action and non-IK constraints.

  • SIMULATION Simulation – State-full solver running in real-time context and ignoring actions and non-IK constraints.

Type:

Literal[‘ANIMATION’, ‘SIMULATION’]

precision

Precision of convergence in case of reiteration (in [0, 0.1], default 0.0)

Type:

float

reiteration_method

Defines if the solver is allowed to reiterate (converge until precision is met) on none, first or all frames (default 'NEVER')

  • NEVER Never – The solver does not reiterate, not even on first frame (starts from rest pose).

  • INITIAL Initial – The solver reiterates (converges) on the first frame but not on subsequent frame.

  • ALWAYS Always – The solver reiterates (converges) on all frames.

Type:

Literal[‘NEVER’, ‘INITIAL’, ‘ALWAYS’]

solver

Solving method selection: automatic damping or manual damping (default 'SDLS')

  • SDLS SDLS – Selective Damped Least Square.

  • DLS DLS – Damped Least Square with Numerical Filtering.

Type:

Literal[‘SDLS’, ‘DLS’]

step_count

Divide the frame interval into this many steps (in [1, 50], default 0)

Type:

int

step_max

Higher bound for timestep in second in case of automatic substeps (in [0, 1], default 0.0)

Type:

float

step_min

Lower bound for timestep in second in case of automatic substeps (in [0, 0.1], default 0.0)

Type:

float

translate_root_bones

Translate root (i.e. parentless) bones to the armature origin (default False)

Type:

bool

use_auto_step

Automatically determine the optimal number of steps for best performance/accuracy trade off (default False)

Type:

bool

velocity_max

Maximum joint velocity in radians/second (in [0, 100], default 0.0)

Type:

float

classmethod bl_rna_get_subclass(id, default=None, /)
Parameters:

  • id (str) – The RNA type identifier.

  • default (bpy.types.Struct | None) – The value to return when not found.

Returns:

The RNA type or default when not found.

Return type:

bpy.types.Struct

classmethod bl_rna_get_subclass_py(id, default=None, /)
Parameters:

  • id (str) – The RNA type identifier.

  • default (type | None) – The value to return when not found.

Returns:

The class or default when not found.

Return type:

type

Inherited Properties

Inherited Functions