RealityFoundation · IOS API REFERENCE

IKRig.Joint

struct · iOS 18.0+ · SDK 27.1

struct Joint

A definition of a rig joint and its IK solver settings.

Members (15)

get · iOS 18.0+

restTransform

TypeScript

get restTransform(): Transform

Swift declaration

var restTransform: Transform

The local space transformation of the joint in the solver's rest pose.

set · iOS 18.0+

restTransform

TypeScript

set restTransform(value: Transform)

Swift declaration

var restTransform: Transform

The local space transformation of the joint in the solver's rest pose.

get · iOS 18.0+

fkWeightPerAxis

TypeScript

get fkWeightPerAxis(): SDKHandle

Swift declaration

var fkWeightPerAxis: SIMD3<Float>

The per-axis weight of the FK demand on the joint. Values are in the closed range `[0, 1]`, where `0` means no influence, and `1` is maximum influence.

set · iOS 18.0+

fkWeightPerAxis

TypeScript

set fkWeightPerAxis(value: SDKHandle)

Swift declaration

var fkWeightPerAxis: SIMD3<Float>

The per-axis weight of the FK demand on the joint. Values are in the closed range `[0, 1]`, where `0` means no influence, and `1` is maximum influence.

get · iOS 18.0+

rotationStiffness

TypeScript

get rotationStiffness(): SDKHandle

Swift declaration

var rotationStiffness: SIMD3<Float>

The per-axis rotational stiffness of the joint. A joint with higher stiffness rotates less to reach demands. Values are in the closed range `[0, 1]`, where `0` means free to rotate, and `1` is no movement.

set · iOS 18.0+

rotationStiffness

TypeScript

set rotationStiffness(value: SDKHandle)

Swift declaration

var rotationStiffness: SIMD3<Float>

get · iOS 18.0+

id

TypeScript

get id(): IKRig_Joint_ID

Swift declaration

var id: IKRig.Joint.ID { get }

The identifier of the joint.

init · iOS 18.0+

init

TypeScript

static init(name: string, parentID?: (IKRig_Joint_ID) | null, restTransform?: Transform): IKRig_Joint

Swift declaration

init(name: String, parentID: IKRig.Joint.ID? = nil, restTransform: Transform = .identity)

Creates a joint with the provided base elements. - Parameters: - name: The name of the new joint. - parentID: The name of the parent joint if there is one. - restTransform: The offset of this joint from its parent (local space).

get · iOS 18.0+

name

TypeScript

get name(): string

Swift declaration

let name: String

The name of the joint.

get · iOS 18.0+

active

TypeScript

get active(): boolean

Swift declaration

var active: Bool

A boolean value that sets whether the solver rotates the joint. Leaf hierarchies that do not need to be directly constrained can be deactivated to reduce the compute cost of the solver.

set · iOS 18.0+

active

TypeScript

set active(value: boolean)

Swift declaration

var active: Bool

A boolean value that sets whether the solver rotates the joint. Leaf hierarchies that do not need to be directly constrained can be deactivated to reduce the compute cost of the solver.

get · iOS 18.0+

limits

TypeScript

get limits(): (IKRig_Joint_LimitsDefinition) | null

Swift declaration

var limits: IKRig.Joint.LimitsDefinition?

The per-axis rotation limits of the joint.

set · iOS 18.0+

limits

TypeScript

set limits(value: (IKRig_Joint_LimitsDefinition) | null)

Swift declaration

var limits: IKRig.Joint.LimitsDefinition?

The per-axis rotation limits of the joint.

get · iOS 18.0+

parentID

TypeScript

get parentID(): (IKRig_Joint_ID) | null

Swift declaration

var parentID: IKRig.Joint.ID?

The identifier of the parent joint if there is one.

set · iOS 18.0+

parentID

TypeScript

set parentID(value: (IKRig_Joint_ID) | null)

Swift declaration

var parentID: IKRig.Joint.ID?

The identifier of the parent joint if there is one.

Skipped declarations

No declarations were skipped in this snapshot.

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