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381 lines
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ReStructuredText
381 lines
24 KiB
ReStructuredText
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.. _class_IterateIK3D:
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IterateIK3D
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===========
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**继承：** :ref:`ChainIK3D<class_ChainIK3D>` **<** :ref:`IKModifier3D<class_IKModifier3D>` **<** :ref:`SkeletonModifier3D<class_SkeletonModifier3D>` **<** :ref:`Node3D<class_Node3D>` **<** :ref:`Node<class_Node>` **<** :ref:`Object<class_Object>`
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**派生：** :ref:`CCDIK3D<class_CCDIK3D>`, :ref:`FABRIK3D<class_FABRIK3D>`, :ref:`JacobianIK3D<class_JacobianIK3D>`
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A :ref:`SkeletonModifier3D<class_SkeletonModifier3D>` to approach the goal by repeating small rotations.
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.. rst-class:: classref-introduction-group
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描述
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----
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Base class of :ref:`SkeletonModifier3D<class_SkeletonModifier3D>` to approach the goal by repeating small rotations.
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Each bone chain (setting) has one effector, which is processed in order of the setting list. You can set some limitations for each joint.
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.. rst-class:: classref-reftable-group
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属性
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----
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.. table::
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:widths: auto
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+---------------------------+----------------------------------------------------------------------------+-----------------+
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| :ref:`float<class_float>` | :ref:`angular_delta_limit<class_IterateIK3D_property_angular_delta_limit>` | ``0.034906585`` |
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+---------------------------+----------------------------------------------------------------------------+-----------------+
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| :ref:`bool<class_bool>` | :ref:`deterministic<class_IterateIK3D_property_deterministic>` | ``false`` |
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+---------------------------+----------------------------------------------------------------------------+-----------------+
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| :ref:`int<class_int>` | :ref:`max_iterations<class_IterateIK3D_property_max_iterations>` | ``4`` |
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+---------------------------+----------------------------------------------------------------------------+-----------------+
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| :ref:`float<class_float>` | :ref:`min_distance<class_IterateIK3D_property_min_distance>` | ``0.001`` |
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+---------------------------+----------------------------------------------------------------------------+-----------------+
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| :ref:`int<class_int>` | :ref:`setting_count<class_IterateIK3D_property_setting_count>` | ``0`` |
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+---------------------------+----------------------------------------------------------------------------+-----------------+
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.. rst-class:: classref-reftable-group
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方法
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----
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.. table::
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:widths: auto
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`JointLimitation3D<class_JointLimitation3D>` | :ref:`get_joint_limitation<class_IterateIK3D_method_get_joint_limitation>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`SecondaryDirection<enum_SkeletonModifier3D_SecondaryDirection>` | :ref:`get_joint_limitation_right_axis<class_IterateIK3D_method_get_joint_limitation_right_axis>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_joint_limitation_right_axis_vector<class_IterateIK3D_method_get_joint_limitation_right_axis_vector>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Quaternion<class_Quaternion>` | :ref:`get_joint_limitation_rotation_offset<class_IterateIK3D_method_get_joint_limitation_rotation_offset>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`RotationAxis<enum_SkeletonModifier3D_RotationAxis>` | :ref:`get_joint_rotation_axis<class_IterateIK3D_method_get_joint_rotation_axis>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_joint_rotation_axis_vector<class_IterateIK3D_method_get_joint_rotation_axis_vector>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`NodePath<class_NodePath>` | :ref:`get_target_node<class_IterateIK3D_method_get_target_node>`\ (\ index\: :ref:`int<class_int>`\ ) |const| |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_joint_limitation<class_IterateIK3D_method_set_joint_limitation>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, limitation\: :ref:`JointLimitation3D<class_JointLimitation3D>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_joint_limitation_right_axis<class_IterateIK3D_method_set_joint_limitation_right_axis>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, direction\: :ref:`SecondaryDirection<enum_SkeletonModifier3D_SecondaryDirection>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_joint_limitation_right_axis_vector<class_IterateIK3D_method_set_joint_limitation_right_axis_vector>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, vector\: :ref:`Vector3<class_Vector3>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_joint_limitation_rotation_offset<class_IterateIK3D_method_set_joint_limitation_rotation_offset>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, offset\: :ref:`Quaternion<class_Quaternion>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_joint_rotation_axis<class_IterateIK3D_method_set_joint_rotation_axis>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, axis\: :ref:`RotationAxis<enum_SkeletonModifier3D_RotationAxis>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_joint_rotation_axis_vector<class_IterateIK3D_method_set_joint_rotation_axis_vector>`\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, axis_vector\: :ref:`Vector3<class_Vector3>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |void| | :ref:`set_target_node<class_IterateIK3D_method_set_target_node>`\ (\ index\: :ref:`int<class_int>`, target_node\: :ref:`NodePath<class_NodePath>`\ ) |
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+-----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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.. rst-class:: classref-section-separator
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----
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.. rst-class:: classref-descriptions-group
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属性说明
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--------
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.. _class_IterateIK3D_property_angular_delta_limit:
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.. rst-class:: classref-property
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:ref:`float<class_float>` **angular_delta_limit** = ``0.034906585`` :ref:`🔗<class_IterateIK3D_property_angular_delta_limit>`
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.. rst-class:: classref-property-setget
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- |void| **set_angular_delta_limit**\ (\ value\: :ref:`float<class_float>`\ )
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- :ref:`float<class_float>` **get_angular_delta_limit**\ (\ )
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The maximum amount each bone can rotate in a single iteration.
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\ **Note:** This limitation is applied during each iteration. For example, if :ref:`max_iterations<class_IterateIK3D_property_max_iterations>` is ``4`` and :ref:`angular_delta_limit<class_IterateIK3D_property_angular_delta_limit>` is ``5`` degrees, the maximum rotation possible in a single frame is ``20`` degrees.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_property_deterministic:
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.. rst-class:: classref-property
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:ref:`bool<class_bool>` **deterministic** = ``false`` :ref:`🔗<class_IterateIK3D_property_deterministic>`
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.. rst-class:: classref-property-setget
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- |void| **set_deterministic**\ (\ value\: :ref:`bool<class_bool>`\ )
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- :ref:`bool<class_bool>` **is_deterministic**\ (\ )
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If ``false``, the result is calculated from the previous frame's **IterateIK3D** result as the initial state.
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If ``true``, the previous frame's **IterateIK3D** result is discarded. At this point, the new result is calculated from the bone pose excluding the **IterateIK3D** as the initial state. This means the result will be always equal as long as the target position and the previous bone pose are the same. However, if :ref:`angular_delta_limit<class_IterateIK3D_property_angular_delta_limit>` and :ref:`max_iterations<class_IterateIK3D_property_max_iterations>` are set too small, the end bone of the chain will never reach the target.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_property_max_iterations:
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.. rst-class:: classref-property
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:ref:`int<class_int>` **max_iterations** = ``4`` :ref:`🔗<class_IterateIK3D_property_max_iterations>`
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.. rst-class:: classref-property-setget
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- |void| **set_max_iterations**\ (\ value\: :ref:`int<class_int>`\ )
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- :ref:`int<class_int>` **get_max_iterations**\ (\ )
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The number of iteration loops used by the IK solver to produce more accurate results.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_property_min_distance:
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.. rst-class:: classref-property
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:ref:`float<class_float>` **min_distance** = ``0.001`` :ref:`🔗<class_IterateIK3D_property_min_distance>`
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.. rst-class:: classref-property-setget
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- |void| **set_min_distance**\ (\ value\: :ref:`float<class_float>`\ )
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- :ref:`float<class_float>` **get_min_distance**\ (\ )
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The minimum distance between the end bone and the target. If the distance is below this value, the IK solver stops any further iterations.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_property_setting_count:
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.. rst-class:: classref-property
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:ref:`int<class_int>` **setting_count** = ``0`` :ref:`🔗<class_IterateIK3D_property_setting_count>`
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.. rst-class:: classref-property-setget
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- |void| **set_setting_count**\ (\ value\: :ref:`int<class_int>`\ )
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- :ref:`int<class_int>` **get_setting_count**\ (\ )
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设置的数量。
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.. rst-class:: classref-section-separator
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----
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.. rst-class:: classref-descriptions-group
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方法说明
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--------
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.. _class_IterateIK3D_method_get_joint_limitation:
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.. rst-class:: classref-method
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:ref:`JointLimitation3D<class_JointLimitation3D>` **get_joint_limitation**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_joint_limitation>`
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Returns the joint limitation at ``joint`` in the bone chain's joint list.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_get_joint_limitation_right_axis:
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.. rst-class:: classref-method
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:ref:`SecondaryDirection<enum_SkeletonModifier3D_SecondaryDirection>` **get_joint_limitation_right_axis**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_joint_limitation_right_axis>`
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Returns the joint limitation right axis at ``joint`` in the bone chain's joint list.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_get_joint_limitation_right_axis_vector:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_joint_limitation_right_axis_vector**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_joint_limitation_right_axis_vector>`
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Returns the joint limitation right axis vector at ``joint`` in the bone chain's joint list.
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If :ref:`get_joint_limitation_right_axis()<class_IterateIK3D_method_get_joint_limitation_right_axis>` is :ref:`SkeletonModifier3D.SECONDARY_DIRECTION_NONE<class_SkeletonModifier3D_constant_SECONDARY_DIRECTION_NONE>`, this method returns ``Vector3(0, 0, 0)``.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_get_joint_limitation_rotation_offset:
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.. rst-class:: classref-method
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:ref:`Quaternion<class_Quaternion>` **get_joint_limitation_rotation_offset**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_joint_limitation_rotation_offset>`
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Returns the joint limitation rotation offset at ``joint`` in the bone chain's joint list.
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Rotation is done in the local space which is constructed by the bone direction (in general parent to child) as the +Y axis and :ref:`get_joint_limitation_right_axis_vector()<class_IterateIK3D_method_get_joint_limitation_right_axis_vector>` as the +X axis.
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If the +X and +Y axes are not orthogonal, the +X axis is implicitly modified to make it orthogonal.
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Also, if the length of :ref:`get_joint_limitation_right_axis_vector()<class_IterateIK3D_method_get_joint_limitation_right_axis_vector>` is zero, the space is created by rotating the bone rest using the shortest arc that rotates the +Y axis of the bone rest to match the bone direction.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_get_joint_rotation_axis:
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.. rst-class:: classref-method
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:ref:`RotationAxis<enum_SkeletonModifier3D_RotationAxis>` **get_joint_rotation_axis**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_joint_rotation_axis>`
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返回骨骼链关节列表中 ``joint`` 关节的旋转轴。
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_get_joint_rotation_axis_vector:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_joint_rotation_axis_vector**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_joint_rotation_axis_vector>`
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Returns the rotation axis vector for the specified joint in the bone chain. This vector represents the axis around which the joint can rotate. It is determined based on the rotation axis set for the joint.
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If :ref:`get_joint_rotation_axis()<class_IterateIK3D_method_get_joint_rotation_axis>` is :ref:`SkeletonModifier3D.ROTATION_AXIS_ALL<class_SkeletonModifier3D_constant_ROTATION_AXIS_ALL>`, this method returns ``Vector3(0, 0, 0)``.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_get_target_node:
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.. rst-class:: classref-method
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:ref:`NodePath<class_NodePath>` **get_target_node**\ (\ index\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_IterateIK3D_method_get_target_node>`
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Returns the target node that the end bone is trying to reach.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_joint_limitation:
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.. rst-class:: classref-method
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|void| **set_joint_limitation**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, limitation\: :ref:`JointLimitation3D<class_JointLimitation3D>`\ ) :ref:`🔗<class_IterateIK3D_method_set_joint_limitation>`
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Sets the joint limitation at ``joint`` in the bone chain's joint list.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_joint_limitation_right_axis:
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.. rst-class:: classref-method
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|void| **set_joint_limitation_right_axis**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, direction\: :ref:`SecondaryDirection<enum_SkeletonModifier3D_SecondaryDirection>`\ ) :ref:`🔗<class_IterateIK3D_method_set_joint_limitation_right_axis>`
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Sets the joint limitation right axis at ``joint`` in the bone chain's joint list.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_joint_limitation_right_axis_vector:
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.. rst-class:: classref-method
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|void| **set_joint_limitation_right_axis_vector**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, vector\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_IterateIK3D_method_set_joint_limitation_right_axis_vector>`
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Sets the optional joint limitation right axis vector at ``joint`` in the bone chain's joint list.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_joint_limitation_rotation_offset:
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.. rst-class:: classref-method
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|void| **set_joint_limitation_rotation_offset**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, offset\: :ref:`Quaternion<class_Quaternion>`\ ) :ref:`🔗<class_IterateIK3D_method_set_joint_limitation_rotation_offset>`
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Sets the joint limitation rotation offset at ``joint`` in the bone chain's joint list.
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Rotation is done in the local space which is constructed by the bone direction (in general parent to child) as the +Y axis and :ref:`get_joint_limitation_right_axis_vector()<class_IterateIK3D_method_get_joint_limitation_right_axis_vector>` as the +X axis.
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If the +X and +Y axes are not orthogonal, the +X axis is implicitly modified to make it orthogonal.
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Also, if the length of :ref:`get_joint_limitation_right_axis_vector()<class_IterateIK3D_method_get_joint_limitation_right_axis_vector>` is zero, the space is created by rotating the bone rest using the shortest arc that rotates the +Y axis of the bone rest to match the bone direction.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_joint_rotation_axis:
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.. rst-class:: classref-method
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|void| **set_joint_rotation_axis**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, axis\: :ref:`RotationAxis<enum_SkeletonModifier3D_RotationAxis>`\ ) :ref:`🔗<class_IterateIK3D_method_set_joint_rotation_axis>`
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Sets the rotation axis at ``joint`` in the bone chain's joint list.
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The axes are based on the :ref:`Skeleton3D.get_bone_rest()<class_Skeleton3D_method_get_bone_rest>`'s space, if ``axis`` is :ref:`SkeletonModifier3D.ROTATION_AXIS_CUSTOM<class_SkeletonModifier3D_constant_ROTATION_AXIS_CUSTOM>`, you can specify any axis.
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\ **Note:** The rotation axis and the forward vector shouldn't be colinear to avoid unintended rotation since :ref:`ChainIK3D<class_ChainIK3D>` does not factor in twisting forces.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_joint_rotation_axis_vector:
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.. rst-class:: classref-method
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|void| **set_joint_rotation_axis_vector**\ (\ index\: :ref:`int<class_int>`, joint\: :ref:`int<class_int>`, axis_vector\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_IterateIK3D_method_set_joint_rotation_axis_vector>`
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Sets the rotation axis vector for the specified joint in the bone chain.
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This vector is normalized by an internal process and represents the axis around which the bone chain can rotate.
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If the vector length is ``0``, it is considered synonymous with :ref:`SkeletonModifier3D.ROTATION_AXIS_ALL<class_SkeletonModifier3D_constant_ROTATION_AXIS_ALL>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_IterateIK3D_method_set_target_node:
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.. rst-class:: classref-method
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|void| **set_target_node**\ (\ index\: :ref:`int<class_int>`, target_node\: :ref:`NodePath<class_NodePath>`\ ) :ref:`🔗<class_IterateIK3D_method_set_target_node>`
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Sets the target node that the end bone is trying to reach.
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.. |virtual| replace:: :abbr:`virtual (本方法通常需要用户覆盖才能生效。)`
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.. |required| replace:: :abbr:`required (This method is required to be overridden when extending its base class.)`
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.. |const| replace:: :abbr:`const (本方法无副作用，不会修改该实例的任何成员变量。)`
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.. |vararg| replace:: :abbr:`vararg (本方法除了能接受在此处描述的参数外，还能够继续接受任意数量的参数。)`
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.. |constructor| replace:: :abbr:`constructor (本方法用于构造某个类型。)`
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.. |static| replace:: :abbr:`static (调用本方法无需实例，可直接使用类名进行调用。)`
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.. |operator| replace:: :abbr:`operator (本方法描述的是使用本类型作为左操作数的有效运算符。)`
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.. |bitfield| replace:: :abbr:`BitField (这个值是由下列位标志构成位掩码的整数。)`
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.. |void| replace:: :abbr:`void (无返回值。)`
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