ikSCsolver works on one ikHandle at a time. Therefore, the weight
attribute of the ikHandle is ignored by this solver.
ikSCsolver is history independent, meaning that it will produce the
same solution after the ikHandle is moved, or rotated, away and put
Since it is history independent, if an assignment of values to the
rotation attributes makes a solution, it is always the solution
provided it can meet the objective. The assignment by the
corresponding preferred angles is guaranteed to be a solution.
Following attributes of the joint node would affect the solution:
stiffness, minRotateDampRange, minRotateDampStrength,
maxRotateDampRange, maxRotateDampStrength. See the document on
the joint node for their meanings.
It uses the rotation attributes of all the joints from the
startJoint to the endEffector specified by the ikHandle. 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".
The objective of this solver is to put the position and
orientation of the effector in the world space to where the
ikHandle is. It puts the position first and then adjusts the
orientation by rotating the start joint about the line from the
start joint to the effector. This may not make the effector's
orientation match the ikHandle's exactly, but it will put them as
close as possible. The poWeight attribute of the ikHandle is not
|Node name||Parents||MFn type||Compatible function sets|
joint, ikSolver, ikMCsolver, ikSplineSolver, ikRPsolver, ikPASolver, ikSystem, ikEffector, ikHandle