ikMCsolver works on multiple ikHandle's simultaneously. All the
ikHandle's that use this solver and share the same value of the
priority attribute will be solved simultaneousely.
ikMCsolver is history dependent, meaning that it may produce
different solutions after the ikHandle is moved, or rotated, away
and put back again.
It uses the rotation attributes of all the joints from the
startJoint to the endEffector specified by the ikHandle's. In order
for a specific rotation attribute, say rotateX, to be used, it must
be in the jointType attribute (of string type) of the corresponding
joint. For example, rotateX will not be used if the jointType
attribute has value "yz".
For each ikHandle, the objective of this solver is to put the
position and orientation of the effector in the world space to
where the ikHandle is. The poWeight attribute is used to balance
the requirements on the position and orientation. poWeight being
1.0 means that the orientation requirement is completely
ignored. The values of the weight attribute of the ikHandle's to be
solved together are used to negotiate the final solution if it is
not possible to meet the objectives of all the ikHandle's
|Node name||Parents||MFn type||Compatible function sets|
joint, ikSolver, ikSplineSolver, ikSCsolver, ikRPsolver, ikPASolver, ikSystem, ikEffector, ikHandle