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SAA_chainGetGoal
SAA_chainSetGoal
SAA_chainGetGoal retrieves the goal position of an effector (real or
pseudo). If the goal is not set, SAA_chainGetGoal returns SI_ERR_GOAL_NOT_SET.
SAA_chainSetGoal sets the goal for a chain by positioning the end
effector. Based on the goal position, Inverse Kinematics calculates the positions of the
other elements of the chain when the scene is updated.
You can also use SAA_modelSetTranslation
to set the goal of a real effector, but you must use SAA_chainSetGoal to set
the goal of a pseudo effector.
set scene [SAA_AllocScene]
set effector [SAA_AllocElem]
.
.
.
SAA_chainGetGoal $scene $effector etrnx etrny etrnz
etrnx 4.51
etrny 12.885
etrnz 0.0
SAA_chainSetGoal $scene $effector $etrnx $etrny $etrnz
effector- The effector of a chain or the pseudo effector of a subchain. To get the effectors and
pseudo effectors in a chain, use
SAA_chainGetNextPseudoEffector.
etrnx- X coordinate of the goal position (in global coordinates).
etrny- Y coordinate of the goal position (in global coordinates).
etrnz- Z coordinate of the goal position (in global coordinates).
Return Value
Return correct usage if incorrect parameters are passed
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SAA_chainGetGoal