OmniGraph Node omni.graph.examples.cpp.SimpleIk

omni.graph.examples.cpp.SimpleIk Properties

Name

Value

Version

1

Extension

omni.graph.examples.cpp

Has State?

True

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Example Node: Simple IK

Generated Class Name

OgnIKDatabase

Python Module

omni.graph.examples.cpp

omni.graph.examples.cpp.SimpleIk Description

Example node that employs a simple IK algorithm to match a three-joint limb to a goal

omni.graph.examples.cpp.SimpleIk Inputs

Name

Type

Default

Required?

Descripton

inputs:goal

matrixd[4]

[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]

Y

Transform of the IK goal

uiName

Goal Transform

omni.graph.examples.cpp.SimpleIk State

Name

Type

Default

Required?

Descripton

state:ankle

matrixd[4]

None

Y

Computed transform of the ankle joint

uiName

Ankle Transform

state:hip

matrixd[4]

None

Y

Computed transform of the hip joint

uiName

Hip Transform

state:knee

matrixd[4]

None

Y

Computed transform of the knee joint

uiName

Knee Transform