inverse-kinematics/dist/Solve2D.d.ts

Inverse kinematics for 2D and 3D applications

import { V2 } from '.';
import { Range } from './Range';
import { SolveOptions } from './SolveOptions';
export interface Link {
    /**
     * The rotation at the base of the link
     */
    rotation: number;
    /**
     * undefined: No constraint
     *
     * Range: minimum angle, maximum angle (radians), positive is anticlockwise from previous Link's direction vector
     *
     * ExactRotation: Either a global, or local rotation which the Link is locked to
     */
    constraints?: Constraints;
    position: V2;
}
declare type Constraints = number | Range | ExactRotation;
interface ExactRotation {
    value: number;
    /**
     * 'local': Relative to previous links direction vector
     *
     * 'global': Relative to the baseJoints world transform
     */
    type: 'global' | 'local';
}
export interface SolveResult {
    /**
     * Copy of the structure of input links
     * With the possibility of their rotation being changed
     */
    links: Link[];
    /**
     * Returns the error distance after the solve step
     */
    getErrorDistance: () => number;
    /**
     * true if the solve terminates early due to the end effector being close to the target.
     * undefined if solve has adjusted the rotations in links
     *
     * undefined is used here as we don't rerun error checking after the angle adjustment, thus it cannot be known true or false.
     * This is done to improve performance
     */
    isWithinAcceptedError: true | undefined;
}
/**
 * Changes joint angle to minimize distance of end effector to target
 *
 * If given no options, runs in FABRIK mode
 */
export declare function solve(links: Link[], baseJoint: JointTransform, target: V2, options?: SolveOptions): SolveResult;
export interface JointTransform {
    position: V2;
    rotation: number;
}
/**
 * Distance from end effector to the target
 */
export declare function getErrorDistance(links: Link[], base: JointTransform, target: V2): number;
/**
 * Absolute position of the end effector (last links tip)
 */
export declare function getEndEffectorPosition(links: Link[], joint: JointTransform): V2;
/**
 * Returns the absolute position and rotation of each link
 */
export declare function getJointTransforms(links: Link[], joint: JointTransform): {
    transforms: JointTransform[];
    effectorPosition: V2;
    effectorRotation: number;
};
export declare function buildLink(position: V2, rotation?: number, constraint?: number | Range | ExactRotation): Link;
export {};