# CS::Animation::iSkeletonIKCCDNode Struct Reference

An implementation of the CS::Animation::iSkeletonIKNodeFactory based on a quaternion version of the Cyclic Coordinate Descent algorithm. More...

`#include <imesh/animnode/ik.h>`

## Detailed Description

An implementation of the CS::Animation::iSkeletonIKNodeFactory based on a quaternion version of the Cyclic Coordinate Descent algorithm.

The general behavior of the CCD algorithm is to iterate over each bone of the chain, and apply a portion of the rotation needed to get the effector closer to the target.

The CCD algorithm is the most common algorithm for Inverse Kinematics because it is simple and rather efficient. One of the main disadvantage is that it is not stable in the sense that a small change to the configuration of the IK target can lead to a big change in the result of the algorithm.

**Warning:**- The current implementation does not care about the rotational component of the constraints.
- The current implementation can only manage one constraint per chain.

**See also:**- iSkeletonIKNode

Definition at line 356 of file ik.h.

The documentation for this struct was generated from the following file:

- imesh/animnode/ik.h

Generated for Crystal Space 2.1 by doxygen 1.6.1