RealityFoundation · IOS API REFERENCE

IKComponent.Solver

class · iOS 18.0+ · SDK 27.1

class Solver

The update stage object that lets you read and update the current settings of a single solver instance. The settings this object exposes are the runtime editable values on the solver instance itself, the solver joints and constraints. For the full list of settings adjustable during creation, see ``IKRig``.

Members (10)

get · iOS 18.0+

constraints

TypeScript

get constraints(): IKComponent_ConstraintCollection

Swift declaration

var constraints: IKComponent.ConstraintCollection

The collection of all of the constraint update stage objects of the solver instance. The order matches the order in the rig ``IKRig/constraints``.

set · iOS 18.0+

constraints

TypeScript

set constraints(value: IKComponent_ConstraintCollection)

Swift declaration

var constraints: IKComponent.ConstraintCollection

The collection of all of the constraint update stage objects of the solver instance. The order matches the order in the rig ``IKRig/constraints``.

get · iOS 18.0+

maxIterations

TypeScript

get maxIterations(): number

Swift declaration

var maxIterations: Int { get set }

The maximum number of iterations the solver is allowed to do per frame. If the pose satisfies all of the demands using less iterations, the solve stops early. The initial value is from the respective ``IKRig/maxIterations``. - Note: Values of `0` or less, result in the constant output of the last solved pose.

set · iOS 18.0+

maxIterations

TypeScript

set maxIterations(value: number)

Swift declaration

var maxIterations: Int { get set }

get · iOS 18.0+

globalFkWeight

TypeScript

get globalFkWeight(): number

Swift declaration

var globalFkWeight: Float { get set }

The solver global forward kinematics demand's weight. Multiplied with the per-joint per-axis forward kinematics weight ``IKComponent/Joint/fkWeightPerAxis``. The initial value is from the respective ``IKRig/globalFkWeight``.

set · iOS 18.0+

globalFkWeight

TypeScript

set globalFkWeight(value: number)

Swift declaration

var globalFkWeight: Float { get set }

get · iOS 18.0+

id

TypeScript

get id(): IKComponent_Solver_ID

Swift declaration

var id: IKComponent.Solver.ID { get }

The solver instance identifier.

method · iOS 18.0+

reset

TypeScript

reset(): void

Swift declaration

func reset()

Enqueues a solver reset call that executes before the next solve. Resets the solver to its rest pose. Useful if the source animation or constraint demands change significantly.

get · iOS 18.0+

joints

TypeScript

get joints(): IKComponent_JointCollection

Swift declaration

var joints: IKComponent.JointCollection

The collection of all of the joint update stage objects of the solver instance. The order matches the order in the rig ``IKRig/joints``.

set · iOS 18.0+

joints

TypeScript

set joints(value: IKComponent_JointCollection)

Swift declaration

var joints: IKComponent.JointCollection

The collection of all of the joint update stage objects of the solver instance. The order matches the order in the rig ``IKRig/joints``.

Skipped declarations

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