FreeMinecraftModels/com.magmaguy.freeminecraftmodels.customentity.core/IKSolver

IKSolver

public class IKSolver

Implements the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm. FABRIK is a fast, iterative solver that works by: 1. Reaching backward from target to base 2. Reaching forward from base to target 3. Repeating until convergence or max iterations This implementation follows Blockbench's approach using the FIK library concepts.

Constructors

IKSolver

public void IKSolver()

Functions

calculateBoneRotation

public static Vector3f calculateBoneRotation(Vector3f from, Vector3f to, Vector3f restDir)

Calculates the rotation needed to point from one position to another.

calculateRotationDelta

public static Vector3f calculateRotationDelta(Vector3f oldDir, Vector3f newDir)

Calculates the rotation delta between two bone configurations.

quaternionToEuler

public static Vector3f quaternionToEuler(Quaternionf q)

Converts a quaternion to Euler angles (XYZ order).

solveFABRIK

public static boolean solveFABRIK(Array<Vector3f> positions, Vector3f target, Array<float> boneLengths)

Solves IK for a bone chain using the FABRIK algorithm.