SAA_chainCreateByRotation
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SAA_chainCreateByRotation

Creates a 2D or 3D inverse kinematic chain from a list of joint rotations and lengths.

set scene [SAA_AllocScene]

set rootTrans [SAA_AllocVector]

set rotations [ SAA_AllocVector $nbRotations]

set lengths [SAA_AllocFloat $nbRotations]

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.

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set is3DChain 0 or 1

set chnRoot [SAA_AllocElem]

SAA_chainCreateByRotation  $scene $is3DChain $rootTrans $nbRotations $rotations $lengths $chnRoot

is3DChain

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

rootTrans

Initial translation of the chain's root (expressed in global coordinates).

nbRotations

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

rotations

Array containing the local rotations of the chain root and of each joint.

lengths

Array of joint lengths.

chnRoot

Returns the chain root (a null model).

Return Value

Return correct usage if incorrect parameters are passed
"SI_ERR_ERROR_MSG" if less than two rotations is supplied or the function was unable to create a chain.

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copyright Video-Collage Inc.