ikRPsolver works the same as ikSCsolver does except for the
difference in how it adjusts the orientation.
It does not look to the orientation of the ikHandle. It adjusts the
orientation according to the poleVector and twist attributes of the
ikHandle. Every skeleton, the joint hierarchy from the start joint
to the end effector, has an intrinsic plane. If all the joints lie
on the same plane, that plane is the intrinsic plane. The
ikRPsolver will rotate the start joint so that the plane of the
skeleton aligns with the plane formed by the line from the start
joint to the end effector and the poleVector, with an offset given
by the twist attribute. The poleVector attribute is interpreted in
the parent space of the ikHandle.
|Node name||Parents||MFn type||Compatible function sets|
joint, ikSolver, ikMCsolver, ikSplineSolver, ikSCsolver, ikPASolver, ikSystem, ikEffector, ikHandle