Regular API function

simCheckIkGroup / sim.checkIkGroup

Description
Deprecated. Use the kinematic plugin functionality instead.

Solves a registered IK group, but unlike the sim.handleIkGroup function, sim.checkIkGroup will not apply the calculated joint values, but instead return them in an array.
C/C++
synopsis
int simCheckIkGroup(int ikGroupHandle,int jointCnt,const int* jointHandles,double* jointValues,const int* jointOptions)
C/C++
parameters
ikGroupHandle: handle of the IK group. Only IK groups that are flagged as explicitly handled will be considered as valid handles for this function. See also simGetIkGroupHandle
jointCnt: the number of joint handles provided in the jointHandles array.
jointHandles (input): an array with jointCnt entries, that specifies the joint handles for the joints we wish to retrieve the values calculated by the IK.
jointValues (output): an array with jointCnt entries, that will receive the IK calculated joint values, as specified by the jointHandles array.
jointOptions: a bit-coded value corresponding to each specified joint handle. Can also be nullptr. Bit 0 (i.e. (1) indicates the corresponding joint is dependent of another joint.
C/C++
return value
-1 in case of an error, otherwise an IK calculation result.
Lua
synopsis
int ikCalculationResult,float[] jointValues=sim.checkIkGroup(int ikGroupHandle,int[] jointHandles,int[] jointOptions=nil)
Lua
parameters
Similar to the C-function counterpart
Lua
return values
Similar to the C-function counterpart