CCDIK Controller
Cyclic Coordinate Descent Inverse Kinematics Controller
Installation
Run npm i @rbxts/ccdik-controller in your project directory.
Usage
import CCDIKController, { ConstraintsValue } from "@rbxts/ccdik-controller";
// optional constraints parameter
const constraints = new Map<Motor6D, ConstraintsValue>();
constraints.set(new Instance("Motor6D"), {
ConstraintType: "Hinge",
LowerAngle: 5,
UpperAngle: 10,
AxisAttachment: "foo",
JointAttachment: "baz",
});
const ikController = new CCDIKController([motor1, motor2, motor3], constraints);
ikController.CCDIKIterateUntil(new Vector3(5, 5, 5));If you would like to contribute to CCDIK Controller, please file Pull Requests and Issues in its GitHub repository, and not in the repository of this package.