Regular API function

simCreateIkElement / sim.createIkElement

Description
Deprecated. Use the kinematic plugin functionality instead.

Creates an IK element.
C/C++
synopsis
int simCreateIkElement(int ikGroupHandle,int options,const int* intParams,const double* floatParams,const void* reserved)
C/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 double parameters (i.e. array can be nullptr):
floatParams[0]: the linear precision.
floatParams[1]: the angular precision.
floatParams[2]: the position weight.
floatParams[3]: the orientation weight.
reserved: reserved. Set to nullptr.
C/C++
return value
-1 if operation was not successful.
Lua
synopsis
sim.createIkElement(int ikGroupHandle,int options,int[] intParams,float[] floatParams=nil)
Lua
parameters
Similar to the C-function counterpart
Lua
return values