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.. _class_SkeletonModification2DCCDIK:

SkeletonModification2DCCDIK
===========================

**Inherits:** :ref:`SkeletonModification2D<class_SkeletonModification2D>` **<** :ref:`Resource<class_Resource>` **<** :ref:`RefCounted<class_RefCounted>` **<** :ref:`Object<class_Object>`

A modification that uses CCDIK to manipulate a series of bones to reach a target in 2D.

Description
-----------

This :ref:`SkeletonModification2D<class_SkeletonModification2D>` uses an algorithm called Cyclic Coordinate Descent Inverse Kinematics, or CCDIK, to manipulate a chain of bones in a :ref:`Skeleton2D<class_Skeleton2D>` so it reaches a defined target.

CCDIK works by rotating a set of bones, typically called a "bone chain", on a single axis. Each bone is rotated to face the target from the tip (by default), which over a chain of bones allow it to rotate properly to reach the target. Because the bones only rotate on a single axis, CCDIK *can* look more robotic than other IK solvers.

\ **Note:** The CCDIK modifier has ``ccdik_joints``, which are the data objects that hold the data for each joint in the CCDIK chain. This is different from a bone! CCDIK joints hold the data needed for each bone in the bone chain used by CCDIK.

CCDIK also fully supports angle constraints, allowing for more control over how a solution is met.

Properties
----------

+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+
| :ref:`int<class_int>`           | :ref:`ccdik_data_chain_length<class_SkeletonModification2DCCDIK_property_ccdik_data_chain_length>` | ``0``            |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+
| :ref:`NodePath<class_NodePath>` | :ref:`target_nodepath<class_SkeletonModification2DCCDIK_property_target_nodepath>`                 | ``NodePath("")`` |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+
| :ref:`NodePath<class_NodePath>` | :ref:`tip_nodepath<class_SkeletonModification2DCCDIK_property_tip_nodepath>`                       | ``NodePath("")`` |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+

Methods
-------

+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`NodePath<class_NodePath>` | :ref:`get_ccdik_joint_bone2d_node<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_bone2d_node>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                                 |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`           | :ref:`get_ccdik_joint_bone_index<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_bone_index>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                                   |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`         | :ref:`get_ccdik_joint_constraint_angle_invert<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_constraint_angle_invert>` **(** :ref:`int<class_int>` joint_idx **)** |const|                         |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`       | :ref:`get_ccdik_joint_constraint_angle_max<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_constraint_angle_max>` **(** :ref:`int<class_int>` joint_idx **)** |const|                               |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`       | :ref:`get_ccdik_joint_constraint_angle_min<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_constraint_angle_min>` **(** :ref:`int<class_int>` joint_idx **)** |const|                               |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`         | :ref:`get_ccdik_joint_enable_constraint<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_enable_constraint>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                     |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`         | :ref:`get_ccdik_joint_rotate_from_joint<class_SkeletonModification2DCCDIK_method_get_ccdik_joint_rotate_from_joint>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                     |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_bone2d_node<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_bone2d_node>` **(** :ref:`int<class_int>` joint_idx, :ref:`NodePath<class_NodePath>` bone2d_nodepath **)**        |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_bone_index<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_bone_index>` **(** :ref:`int<class_int>` joint_idx, :ref:`int<class_int>` bone_idx **)**                           |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_constraint_angle_invert<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_invert>` **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` invert **)** |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_constraint_angle_max<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_max>` **(** :ref:`int<class_int>` joint_idx, :ref:`float<class_float>` angle_max **)**  |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_constraint_angle_min<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_min>` **(** :ref:`int<class_int>` joint_idx, :ref:`float<class_float>` angle_min **)**  |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_enable_constraint<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_enable_constraint>` **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` enable_constraint **)**  |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                            | :ref:`set_ccdik_joint_rotate_from_joint<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_rotate_from_joint>` **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` rotate_from_joint **)**  |
+---------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

Property Descriptions
---------------------

.. _class_SkeletonModification2DCCDIK_property_ccdik_data_chain_length:

- :ref:`int<class_int>` **ccdik_data_chain_length**

+-----------+------------------------------------+
| *Default* | ``0``                              |
+-----------+------------------------------------+
| *Setter*  | set_ccdik_data_chain_length(value) |
+-----------+------------------------------------+
| *Getter*  | get_ccdik_data_chain_length()      |
+-----------+------------------------------------+

The amount of CCDIK joints in the CCDIK modification.

----

.. _class_SkeletonModification2DCCDIK_property_target_nodepath:

- :ref:`NodePath<class_NodePath>` **target_nodepath**

+-----------+------------------------+
| *Default* | ``NodePath("")``       |
+-----------+------------------------+
| *Setter*  | set_target_node(value) |
+-----------+------------------------+
| *Getter*  | get_target_node()      |
+-----------+------------------------+

The NodePath to the node that is the target for the CCDIK modification. This node is what the CCDIK chain will attempt to rotate the bone chain to.

----

.. _class_SkeletonModification2DCCDIK_property_tip_nodepath:

- :ref:`NodePath<class_NodePath>` **tip_nodepath**

+-----------+---------------------+
| *Default* | ``NodePath("")``    |
+-----------+---------------------+
| *Setter*  | set_tip_node(value) |
+-----------+---------------------+
| *Getter*  | get_tip_node()      |
+-----------+---------------------+

The end position of the CCDIK chain. Typically, this should be a child of a :ref:`Bone2D<class_Bone2D>` node attached to the final :ref:`Bone2D<class_Bone2D>` in the CCDIK chain.

Method Descriptions
-------------------

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_bone2d_node:

- :ref:`NodePath<class_NodePath>` **get_ccdik_joint_bone2d_node** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns the :ref:`Bone2D<class_Bone2D>` node assigned to the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_bone_index:

- :ref:`int<class_int>` **get_ccdik_joint_bone_index** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns the index of the :ref:`Bone2D<class_Bone2D>` node assigned to the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_constraint_angle_invert:

- :ref:`bool<class_bool>` **get_ccdik_joint_constraint_angle_invert** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns whether the CCDIK joint at ``joint_idx`` uses an inverted joint constraint. See :ref:`set_ccdik_joint_constraint_angle_invert<class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_invert>` for details.

----

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_constraint_angle_max:

- :ref:`float<class_float>` **get_ccdik_joint_constraint_angle_max** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns the maximum angle constraint for the joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_constraint_angle_min:

- :ref:`float<class_float>` **get_ccdik_joint_constraint_angle_min** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns the minimum angle constraint for the joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_enable_constraint:

- :ref:`bool<class_bool>` **get_ccdik_joint_enable_constraint** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns whether angle constraints on the CCDIK joint at ``joint_idx`` are enabled.

----

.. _class_SkeletonModification2DCCDIK_method_get_ccdik_joint_rotate_from_joint:

- :ref:`bool<class_bool>` **get_ccdik_joint_rotate_from_joint** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns whether the joint at ``joint_idx`` is set to rotate from the joint, ``true``, or to rotate from the tip, ``false``. The default is to rotate from the tip.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_bone2d_node:

- void **set_ccdik_joint_bone2d_node** **(** :ref:`int<class_int>` joint_idx, :ref:`NodePath<class_NodePath>` bone2d_nodepath **)**

Sets the :ref:`Bone2D<class_Bone2D>` node assigned to the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_bone_index:

- void **set_ccdik_joint_bone_index** **(** :ref:`int<class_int>` joint_idx, :ref:`int<class_int>` bone_idx **)**

Sets the bone index, ``bone_index``, of the CCDIK joint at ``joint_idx``. When possible, this will also update the ``bone2d_node`` of the CCDIK joint based on data provided by the linked skeleton.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_invert:

- void **set_ccdik_joint_constraint_angle_invert** **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` invert **)**

Sets whether the CCDIK joint at ``joint_idx`` uses an inverted joint constraint.

An inverted joint constraint only constraints the CCDIK joint to the angles *outside of* the inputted minimum and maximum angles. For this reason, it is referred to as an inverted joint constraint, as it constraints the joint to the outside of the inputted values.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_max:

- void **set_ccdik_joint_constraint_angle_max** **(** :ref:`int<class_int>` joint_idx, :ref:`float<class_float>` angle_max **)**

Sets the maximum angle constraint for the joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_constraint_angle_min:

- void **set_ccdik_joint_constraint_angle_min** **(** :ref:`int<class_int>` joint_idx, :ref:`float<class_float>` angle_min **)**

Sets the minimum angle constraint for the joint at ``joint_idx``.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_enable_constraint:

- void **set_ccdik_joint_enable_constraint** **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` enable_constraint **)**

Determines whether angle constraints on the CCDIK joint at ``joint_idx`` are enabled. When ``true``, constraints will be enabled and taken into account when solving.

----

.. _class_SkeletonModification2DCCDIK_method_set_ccdik_joint_rotate_from_joint:

- void **set_ccdik_joint_rotate_from_joint** **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` rotate_from_joint **)**

Sets whether the joint at ``joint_idx`` is set to rotate from the joint, ``true``, or to rotate from the tip, ``false``.

.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
.. |constructor| replace:: :abbr:`constructor (This method is used to construct a type.)`
.. |static| replace:: :abbr:`static (This method doesn't need an instance to be called, so it can be called directly using the class name.)`
.. |operator| replace:: :abbr:`operator (This method describes a valid operator to use with this type as left-hand operand.)`