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.. DO NOT EDIT THIS FILE, but the SkeletonModification3DCCDIK.xml source instead.
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.. _class_SkeletonModification3DCCDIK:

SkeletonModification3DCCDIK
===========================

**Inherits:** :ref:`SkeletonModification3D<class_SkeletonModification3D>` **<** :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.

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

This :ref:`SkeletonModification3D<class_SkeletonModification3D>` uses an algorithm called Cyclic Coordinate Descent Inverse Kinematics, or CCDIK, to manipulate a chain of bones in a Skeleton 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_SkeletonModification3DCCDIK_property_ccdik_data_chain_length>` | ``0``            |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+
| :ref:`bool<class_bool>`         | :ref:`high_quality_solve<class_SkeletonModification3DCCDIK_property_high_quality_solve>`           | ``true``         |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+
| :ref:`NodePath<class_NodePath>` | :ref:`target_nodepath<class_SkeletonModification3DCCDIK_property_target_nodepath>`                 | ``NodePath("")`` |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+
| :ref:`NodePath<class_NodePath>` | :ref:`tip_nodepath<class_SkeletonModification3DCCDIK_property_tip_nodepath>`                       | ``NodePath("")`` |
+---------------------------------+----------------------------------------------------------------------------------------------------+------------------+

Methods
-------

+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`       | :ref:`get_ccdik_joint_bone_index<class_SkeletonModification3DCCDIK_method_get_ccdik_joint_bone_index>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                                   |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`String<class_String>` | :ref:`get_ccdik_joint_bone_name<class_SkeletonModification3DCCDIK_method_get_ccdik_joint_bone_name>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                                     |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`       | :ref:`get_ccdik_joint_ccdik_axis<class_SkeletonModification3DCCDIK_method_get_ccdik_joint_ccdik_axis>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                                   |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`   | :ref:`get_ccdik_joint_constraint_angle_max<class_SkeletonModification3DCCDIK_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_SkeletonModification3DCCDIK_method_get_ccdik_joint_constraint_angle_min>` **(** :ref:`int<class_int>` joint_idx **)** |const|                               |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`     | :ref:`get_ccdik_joint_constraint_invert<class_SkeletonModification3DCCDIK_method_get_ccdik_joint_constraint_invert>` **(** :ref:`int<class_int>` joint_idx **)** |const|                                     |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`     | :ref:`get_ccdik_joint_enable_joint_constraint<class_SkeletonModification3DCCDIK_method_get_ccdik_joint_enable_joint_constraint>` **(** :ref:`int<class_int>` joint_idx **)** |const|                         |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_bone_index<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_bone_index>` **(** :ref:`int<class_int>` joint_idx, :ref:`int<class_int>` bone_index **)**                         |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_bone_name<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_bone_name>` **(** :ref:`int<class_int>` joint_idx, :ref:`String<class_String>` bone_name **)**                      |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_ccdik_axis<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_ccdik_axis>` **(** :ref:`int<class_int>` joint_idx, :ref:`int<class_int>` axis **)**                               |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_constraint_angle_max<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_angle_max>` **(** :ref:`int<class_int>` joint_idx, :ref:`float<class_float>` max_angle **)**  |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_constraint_angle_min<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_angle_min>` **(** :ref:`int<class_int>` joint_idx, :ref:`float<class_float>` min_angle **)**  |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_constraint_invert<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_invert>` **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` invert **)**             |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                        | :ref:`set_ccdik_joint_enable_joint_constraint<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_enable_joint_constraint>` **(** :ref:`int<class_int>` joint_idx, :ref:`bool<class_bool>` enable **)** |
+-----------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

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

.. _class_SkeletonModification3DCCDIK_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_SkeletonModification3DCCDIK_property_high_quality_solve:

- :ref:`bool<class_bool>` **high_quality_solve**

+-----------+-----------------------------------+
| *Default* | ``true``                          |
+-----------+-----------------------------------+
| *Setter*  | set_use_high_quality_solve(value) |
+-----------+-----------------------------------+
| *Getter*  | get_use_high_quality_solve()      |
+-----------+-----------------------------------+

When true, the CCDIK algorithm will perform a higher quality solve that returns more natural results. A high quality solve requires more computation power to solve though, and therefore can be disabled to save performance.

----

.. _class_SkeletonModification3DCCDIK_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_SkeletonModification3DCCDIK_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:`BoneAttachment3D<class_BoneAttachment3D>` node attached to the final bone in the CCDIK chain, where the child node is offset so it is at the end of the final bone.

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

.. _class_SkeletonModification3DCCDIK_method_get_ccdik_joint_bone_index:

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

Returns the bone index of the bone assigned to the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification3DCCDIK_method_get_ccdik_joint_bone_name:

- :ref:`String<class_String>` **get_ccdik_joint_bone_name** **(** :ref:`int<class_int>` joint_idx **)** |const|

Returns the name of the bone that is assigned to the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification3DCCDIK_method_get_ccdik_joint_ccdik_axis:

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

Returns the integer representing the joint axis of the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification3DCCDIK_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``. **Note:** This angle is in degrees!

----

.. _class_SkeletonModification3DCCDIK_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``. **Note:** This angle is in degrees!

----

.. _class_SkeletonModification3DCCDIK_method_get_ccdik_joint_constraint_invert:

- :ref:`bool<class_bool>` **get_ccdik_joint_constraint_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_invert<class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_invert>` for details.

----

.. _class_SkeletonModification3DCCDIK_method_get_ccdik_joint_enable_joint_constraint:

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

Enables angle constraints to the CCDIK joint at ``joint_idx``.

----

.. _class_SkeletonModification3DCCDIK_method_set_ccdik_joint_bone_index:

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

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

----

.. _class_SkeletonModification3DCCDIK_method_set_ccdik_joint_bone_name:

- void **set_ccdik_joint_bone_name** **(** :ref:`int<class_int>` joint_idx, :ref:`String<class_String>` bone_name **)**

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

----

.. _class_SkeletonModification3DCCDIK_method_set_ccdik_joint_ccdik_axis:

- void **set_ccdik_joint_ccdik_axis** **(** :ref:`int<class_int>` joint_idx, :ref:`int<class_int>` axis **)**

Sets the joint axis of the CCDIK joint at ``joint_idx`` to the passed-in joint axis, ``axis``.

----

.. _class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_angle_max:

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

Sets the maximum angle constraint for the joint at ``joint_idx``. **Note:** This angle must be in radians!

----

.. _class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_angle_min:

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

Sets the minimum angle constraint for the joint at ``joint_idx``. **Note:** This angle must be in radians!

----

.. _class_SkeletonModification3DCCDIK_method_set_ccdik_joint_constraint_invert:

- void **set_ccdik_joint_constraint_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_SkeletonModification3DCCDIK_method_set_ccdik_joint_enable_joint_constraint:

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

Sets whether joint constraints are enabled for the CCDIK joint at ``joint_idx``.

.. |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.)`