SAA_chainCreateByPosition
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SAA_chainCreateByPosition

Creates a 2D or 3D inverse kinematic chain from a list of joint positions.

set scene [SAA_AllocScene]

set rootRot [SAA_AllocVector]

set positions [SAA_AllocVector $nbPositions]

.

.

.

set is3DChain 0 # or 1

set chnRoot [SAA_AllocElem]

SAA_chainCreateByPosition  $scene $is3DChain $rootRot $nbPositions $positions $chnRoot

is3DChain

TRUE to create a 3D chain, 0 for a 2D chain.

rootRot

Initial rotation of the chain root (in degrees).

nbPositions

Size of the positions array. Equal to the number of joints plus one.

positions

Array of global coordinates for the root, joints, and effector of the chain.

chnRoot

Returns the chain root (a null model).

Return Value

Return correct usage if incorrect parameters are passed
"SI_ERR_ERROR_MSG" if unable to create the chain.

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copyright Video-Collage Inc.