SAA_chainGetNextPseudoEffector
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SAA_chainGetNextPseudoEffector

Retrieves the next pseudo effector in a chain.

Given a root or joint, SAA_chainGetNextPseudoEffector searches forward for an effector (real or pseudo), starting with the next limb.

When using inverse kinematics, you need the pseudo effector of a subchain to set the goal of the subchain (see SAA_chainSetGoal).

set scene [SAA_AllocScene]

set limb [SAA_AllocElem]

.

.

.

set nbJoints [get_number_of_joints]

set effector [SAA_AllocElem]

SAA_chainGetNextPseudoEffector  $scene $limb $effector $nbJoints

limb

Root or joint of a chain. If limb is an effector, then SAA_chainGetNextPseudoEffector returns SI_ERR_ELEM_EFFECTOR.

effector

The next pseudo effector or effector.

nbJoints

Number of joints in the subchain between limb and effector, including limb but not effector.

Return Value

Return correct usage if incorrect parameters are passed

Notes

A pseudo effector is a joint that behaves like the effector of a subchain. Chains can be broken into subchains by:

• Applying a Position constraint to a joint.
• Keyframing the explicit translation or translation attributes of a joint.
• Applying path animation to a joint.

For example, when you apply a Position constraint to a joint in a chain, you break the chain into two subchains. The constrained joint is the pseudo effector of one subchain (and the pseudo first joint of the other subchain).

Figure 8-1 : Chain broken into two subchains

The chain in Figure 8-1 includes the following subchains:

• chn1 -> jnt4_1 -> jnt4_2 -> jnt4_3, where jnt4_3 is the pseudo effector of the subchain.
• jnt4_3 -> jnt4_4 -> eff4, where jnt4_3 is the pseudo first joint of the subchain.

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