An int specifying how the end effector matches the position or orientation of its target transform. A value of 0 (default) indicates a position-only target, 1 indicates an orientation-only target, and 2 matches both position and orientation. A value of 3 indicates a target that controls the center of mass of the skeleton (the transform index from targets is not used). Only one center of mass target can be provided.

The world transform for the target.

A matrix specifying a local space transform that is combined with the joint transform to produce the transform that the solver attempts to align with the goal transform. This can be used to place the target at an offset from the joint (for example, at the end of a bone).

A float specifying the importance of the target. When multiple targets have the same priority level, targets with a higher relative weight are more likely to be reached.

An int specifying the target’s priority level. Targets from a lower priority level cannot interfere with targets from a higher priority level. For example, priority levels can be used to ensure that the feet remain planted when manipulating the upper body of a skeleton.