Regular API function

simCreateIkElement / sim.createIkElement

Description Creates an IK element. See also sim.createIkGroup.
C synopsis simInt simCreateIkElement(simInt ikGroupHandle,simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved)
C parameters
ikGroupHandle: the handle to an IK group which will contain this IK element.
options: bit-coded options:
bit 0 set (1): the element is inactive
intParams: an array of 4 integer parameters:
intParams[0]: the handle of the tip dummy.
intParams[1]: the handle of the base object, or -1 for none (i.e. world).
intParams[2]: the handle of an object that will represent an alternative base for constraint evaluation, or -1 if the the constraints should be evaluated relative the the base object.
intParams[3]: the IK constraints.
floatParams: an optional array of 4 float parameters (i.e. array can be NULL):
floatParams[0]: the linear precision.
floatParams[1]: the angular precision.
floatParams[2]: the position weight.
floatParams[3]: the orientation weight.
reserved: reserved. Set to NULL.
C return value
-1 if operation was not successful.
Lua synopsis number result=sim.createIkElement(number ikGroupHandle,number options,table intParams,table floatParams=nil)
Lua parameters
Same as C-function
Lua return values
Same as C-function

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