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<article class="content wrap" id="_content" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities">


<h1 id="Oculus_Movement_AnimationRigging_AnimationUtilities" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities" class="text-break">Class AnimationUtilities
</h1>
<div class="markdown level0 summary"><p>Provides convenient algorithms to assist
with animation rigging work.</p>
</div>
<div class="markdown level0 conceptual"></div>
<div class="inheritance">
<h5>Inheritance</h5>
<div class="level0"><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">Object</a></div>
<div class="level1"><span class="xref">AnimationUtilities</span></div>
</div>
<h6><strong>Namespace</strong>: <a class="xref" href="Oculus.Movement.AnimationRigging.html">Oculus.Movement.AnimationRigging</a></h6>
<h6><strong>Assembly</strong>: cs.temp.dll.dll</h6>
<h5 id="Oculus_Movement_AnimationRigging_AnimationUtilities_syntax">Syntax</h5>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static class AnimationUtilities</code></pre>
</div>
<h3 id="methods">Methods
</h3>


<a id="Oculus_Movement_AnimationRigging_AnimationUtilities_GetBoneRotationWithEffectorTowardGoal_" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities.GetBoneRotationWithEffectorTowardGoal*"></a>
<h4 id="Oculus_Movement_AnimationRigging_AnimationUtilities_GetBoneRotationWithEffectorTowardGoal_Transform_Transform_Vector3_" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities.GetBoneRotationWithEffectorTowardGoal(Transform,Transform,Vector3)">GetBoneRotationWithEffectorTowardGoal(Transform, Transform, Vector3)</h4>
<div class="markdown level1 summary"><p>Gets the rotation of a bone toward the goal with an effector.</p>
</div>
<div class="markdown level1 conceptual"></div>
<h5 class="decalaration">Declaration</h5>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static Quaternion GetBoneRotationWithEffectorTowardGoal(Transform effector, Transform bone, Vector3 goalPosition)</code></pre>
</div>
<h5 class="parameters">Parameters</h5>
<table class="table table-bordered table-striped table-condensed">
<thead>
<tr>
<th>Type</th>
<th>Name</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><span class="xref">Transform</span></td>
<td><span class="parametername">effector</span></td>
<td><p>The effector transform.</p>
</td>
</tr>
<tr>
<td><span class="xref">Transform</span></td>
<td><span class="parametername">bone</span></td>
<td><p>The bone transform.</p>
</td>
</tr>
<tr>
<td><span class="xref">Vector3</span></td>
<td><span class="parametername">goalPosition</span></td>
<td><p>The goal position.</p>
</td>
</tr>
</tbody>
</table>
<h5 class="returns">Returns</h5>
<table class="table table-bordered table-striped table-condensed">
<thead>
<tr>
<th>Type</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><span class="xref">Quaternion</span></td>
<td><p>The desired bone rotation.</p>
</td>
</tr>
</tbody>
</table>


<a id="Oculus_Movement_AnimationRigging_AnimationUtilities_SolveCCDIK_" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities.SolveCCDIK*"></a>
<h4 id="Oculus_Movement_AnimationRigging_AnimationUtilities_SolveCCDIK_Transform___Vector3_System_Single_System_Single_" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities.SolveCCDIK(Transform[],Vector3,System.Single,System.Single)">SolveCCDIK(Transform[], Vector3, Single, Single)</h4>
<div class="markdown level1 summary"><p>Cyclic Coordinate Descent IK algorithm implementation. This rotates each bone in the chain so
that the effector bone will reach the target position. An example of this usage is rotating the entire arm
so that the specified hand can match the tracked hand position.</p>
</div>
<div class="markdown level1 conceptual"></div>
<h5 class="decalaration">Declaration</h5>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static bool SolveCCDIK(Transform[] bones, Vector3 targetPosition, float tolerance, float maxIterations)</code></pre>
</div>
<h5 class="parameters">Parameters</h5>
<table class="table table-bordered table-striped table-condensed">
<thead>
<tr>
<th>Type</th>
<th>Name</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><span class="xref">Transform</span>[]</td>
<td><span class="parametername">bones</span></td>
<td><p>The bones in the chain.</p>
</td>
</tr>
<tr>
<td><span class="xref">Vector3</span></td>
<td><span class="parametername">targetPosition</span></td>
<td><p>The target position.</p>
</td>
</tr>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.single">Single</a></td>
<td><span class="parametername">tolerance</span></td>
<td><p>The maximum distance allowed between the effector and target position.</p>
</td>
</tr>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.single">Single</a></td>
<td><span class="parametername">maxIterations</span></td>
<td><p>The maximum number of iterations</p>
</td>
</tr>
</tbody>
</table>
<h5 class="returns">Returns</h5>
<table class="table table-bordered table-striped table-condensed">
<thead>
<tr>
<th>Type</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">Boolean</a></td>
<td><p>True if the IK was successful at positioning the effector at the target position.</p>
</td>
</tr>
</tbody>
</table>


<a id="Oculus_Movement_AnimationRigging_AnimationUtilities_SolveFABRIK_" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities.SolveFABRIK*"></a>
<h4 id="Oculus_Movement_AnimationRigging_AnimationUtilities_SolveFABRIK_Transform___System_Single___Vector3_System_Single_System_Int32_System_Boolean_" data-uid="Oculus.Movement.AnimationRigging.AnimationUtilities.SolveFABRIK(Transform[],System.Single[],Vector3,System.Single,System.Int32,System.Boolean)">SolveFABRIK(Transform[], Single[], Vector3, Single, Int32, Boolean)</h4>
<div class="markdown level1 summary"><p>Runs FABRIK, or Forward And Backward Reaching Inverse Kinematics,
algorithm on joints so that the end effector moves to the desired
target, and its children move with it. The joints can be an IK chain
representing a finger, where the tip moves toward the target and the
joints behind it are translated as well.
From: Aristidou A, Lasenby J. FABRIK: A fast, iterative solver for
the Inverse Kinematics problem. Graphical Models 2011; 73(5): 243–260.</p>
</div>
<div class="markdown level1 conceptual"></div>
<h5 class="decalaration">Declaration</h5>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static bool SolveFABRIK(Transform[] joints, float[] distanceToNextJoint, Vector3 target, float targetTolerance, int maxIterations = 10, bool solveRotations = false)</code></pre>
</div>
<h5 class="parameters">Parameters</h5>
<table class="table table-bordered table-striped table-condensed">
<thead>
<tr>
<th>Type</th>
<th>Name</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><span class="xref">Transform</span>[]</td>
<td><span class="parametername">joints</span></td>
<td><p>Joint transforms.</p>
</td>
</tr>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.single">Single</a>[]</td>
<td><span class="parametername">distanceToNextJoint</span></td>
<td><p>Distances from current joint to following.</p>
</td>
</tr>
<tr>
<td><span class="xref">Vector3</span></td>
<td><span class="parametername">target</span></td>
<td><p>Target position.</p>
</td>
</tr>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.single">Single</a></td>
<td><span class="parametername">targetTolerance</span></td>
<td><p>If target is reachable, the max distance between end
effector and target.</p>
</td>
</tr>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.int32">Int32</a></td>
<td><span class="parametername">maxIterations</span></td>
<td><p>Max iterations to run.</p>
</td>
</tr>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">Boolean</a></td>
<td><span class="parametername">solveRotations</span></td>
<td></td>
</tr>
</tbody>
</table>
<h5 class="returns">Returns</h5>
<table class="table table-bordered table-striped table-condensed">
<thead>
<tr>
<th>Type</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">Boolean</a></td>
<td><p>True if succesful, false if not.</p>
</td>
</tr>
</tbody>
</table>
</article>
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