solvePhysFBIK(skeleton, targets, com_target=None, iters=30, damping=0.5, tolerance=1e-5)
This solver is equivalent to the solvephysfbik VEX function.
skeleton
The hou.ik.Skeleton to solve. The joints' transforms will be updated with the solution.
targets
A list of hou.ik.Target specifying the goal transforms for particular joints. Raises hou.ValueError if any of the targets are not attached to a joint, or if multiple targets are attached to the same joint.
com_target
An optional hou.ik.Target which specifies the goal position of the skeleton’s center of mass.
iters
The maximum number of iterations to perform.
The solver may terminate early if the tolerance parameter is used.
damping
Damping factor for the solver. Larger values will produce more stable results when, for example, a target is unreachable. A value that is too large, however, will require more iterations to converge. Around 0.5 is typically a suitable initial value.
tolerance
The tolerance to use when checking for convergence, defaults to 1e-5.
If positions converge to within this tolerance, the algorithm will stop.
If 0, the solver will always perform exactly iters iterations.