Houdini 20.5 Nodes Channel nodes

IKSolver channel node

Solves inverse kinematics rotations for bone chains.

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Since 10.0

This filter CHOP generates inverse kinematics rotations for bone chains similar to the InverseKin CHOP. The primary difference is that the input specification is taken entirely from input channels instead of object paths.

The format of the input channel names are expected to follow the object_name:parameter_name format where _object_name_ is specified by the new Name parameters described below and _parameter_name_ is the name of the parameter that the InverseKin CHOP normally fetches from the object scene. If a particular channel is missing from its input, then the default object parameter values will be used instead.

There are three inputs.

Tips

  • The goal and twist affector positions must be relative to the parent space of the first bone. You can do this by enabling Use Reference Bone Length on the Object CHOP.

  • If the bone objects you are transforming have a pretransform, then these transforms should be included in the second input. The Object CHOP can be used to easily produce transforms for the second input.

  • For speed, it is useful to set the second input to only produce channel values at frame 1, since the rest bone chain values are not typically animated.

Parameters

Kinematics

Solver Type

Specifies the solver to use to generate the channels.

Inverse Kinematics

Uses IK solver. The solution is uniquely defined by the end affector position. Constraint parameters are ignored.

IK With Constraints

Uses a modified IK solver. The solution depends on the previous solution. Constraint parameters are used to limit the range of motion.

Chain Names

Specifies the _object_name_'s to be used for channels in the Rest input. The order of the names will be interpreted as the hierarchy of the object chain. If the value is *, then the chain names will be taken from the second input, in the order in which they are found.

The transform parameter names that are accepted by the Inverse Kinematics Solver Type are: xOrd rOrd t[xyz] r[xyz] s[xyz] scale p[xyz]. Note that the channel values of xOrd and rOrd channels are integers corresponding to index of the regular transform/rotation order parameter menus.

Bone-specific parameter names accepted are: R[xyz] length ikdamp.

If an _object_name_ has none of the bone-specific channels, then it will be treated as non-bone (ie. the length of the previous bone will not be used).

Additional parameter names used by the IK with Constraints Solver Type are: begin[xyz]range end[xyz]range [xyz]damp [xyz]rolloff.

Pre-transform Name

Specifies the token used for pre-transforms of the Chain Names. The full channel name used for the second input will be the chain name, pre-transform name, and parameter name all concatenated together in this order.

End Affector Name

Specifies the _object_name_ to be used for the end affector position channels. The end affector is used as goal for the bone chain.

The parameter names accepted from the Source input are: t[xyz].

Twist Affector

For the Inverse Kinematics solver, this specifies the _object_name_ used for twist affector position channels. The twist affector controls the twist orientation of the solution bone angles.

The parameter names accepted from the Source input are: t[xyz].

IK Twist

For the Inverse Kinematics solver, this parameter specifies an additional twist angle to be applied to the solution bone angles.

IK Dampening

For the Inverse Kinematics solver, this parameter represents how easily the end bone can be pulled off the end affector as the bone chain is stretched out.

Blend

This option blends between the local bone rotation values (found in the Source input) and the solved solution. When this value is 0 it produces the local bone rotation values and when it is 1, it produces the solved bone rotation values. If the Blend input is provided, then the channel value there will be used for blending instead.

Straighten Solutions

When this checkbox is turned on, the bone chain will completely straighten out in the direction of the goal if the IK goal is farther away than the length of the bone chain (with a tolerance of the tracking threshold). If this checkbox is turned off, no attempt is made to further straighten the IK solution. By default it is turned off because it is faster.

Tracking Threshold Factor

This value specifies the accuracy threshold for Inverse Kinematic solutions. Use smaller values for more accurate solutions at the expense of more computation time. Use larger values to save computation time at the expense of getting less accurate solutions.

Clean Rotations

Modifies output rotation values such that they contain values as close as possible to the rest angle rotations without changing the solution.

Common

Some of these parameters may not be available on all CHOP nodes.

Scope

To determine the channels that are affected, some CHOPs have a scope string. Patterns can be used in Scope, for example * (match all), and ? (match single character).

The following are examples of possible channel name matching options:

chan2

Matches a single channel name.

chan3 tx ty tz

Matches four channel names, separated by spaces.

chan*

Matches each channel that starts with chan.

*foot*

Matches each channel that has foot in it.

t?

The ? matches a single character. t? matches two-character channels starting with t.

blend[3-7:2]

Matches number ranges, giving blend3, blend5, and blend7.

blend[2-3,5,13]

Matches channels blend2, blend3, blend5, blend13.

t[xyz]

[xyz]matches three characters, giving channels tx, ty and tz.

Sample Rate Match

The Sample Rate Match options handle cases where multiple input CHOPs’ sample rates are different.

Resample At First Input’s Rate

Use the rate of the first input to resample the others.

Resample At Maximum Rate

Resample to the highest sample rate.

Resample At Minimum Rate

Resample to the lowest sample rate.

Error if Rates Differ

Does not accept conflicting sample rates.

Units

The units of the time parameters.

For example, you can specify the amount of time a lag should last for in seconds (default), frames (at the Houdini FPS), or samples (in the CHOP’s sample rate).

Note

When you change the Units parameter, the existing parameters are not converted to the new units.

Time Slice

Time slicing is a feature that boosts cooking performance and reduces memory usage. Traditionally, CHOPs calculate the channel over its entire frame range. If the channel needs to be evaluated every frame, then cooking the entire range of the channel is unnecessary. It is more efficient to calculate only the fraction of the channel that is needed. This fraction is the Time Slice.

Unload

Causes the memory consumed by a CHOP to be released after it is cooked, and the data passed to the next CHOP.

Export Prefix

The Export Prefix is prepended to CHOP channel names to determine where to export to.

For example, if the CHOP channel was named geo1:tx, and the prefix was /obj, the channel would be exported to /obj/geo1/tx.

Note

You can leave the Export Prefix blank, but then your CHOP track names need to be absolute paths, such as obj:geo1:tx.

Graph Color

Every CHOP has this option. Each CHOP gets a default color assigned to it for display in the graph, but you can override the color with the Graph Color. There are 36 RGB color combinations in the palette.

Graph Color Step

When the graph displays the animation curves, and a CHOP has two or more channels, this defines the difference in color from one channel to the next, giving a rainbow spectrum of colors.

Examples

SimpleIKSolver Example for IKSolver channel node

This example demonstrates how to use the IKSolver CHOP.

See also

Channel nodes

  • Acoustic

    Design audio filters and sound materials for the spatial audio system.

  • Agent

    Imports an animation clip from an agent primitive.

  • Area

    Calculates the area under a channel’s graph, which is the same as calculating the integral of a channel, or integrating the channel.

  • Attribute

    Adds, removes or updates attributes of the input chop.

  • Audio In

    Receives audio input from the analog audio ports or the digital port.

  • Band EQ

    A 14-band equalizer which filters audio input channels in the same way that a conventional band equalizer uses a bank of sliders to filter fixed-frequency bands of sound.

  • Beat

    Manually tap the beat of a piece of music, and automatically generate a repeating ramp or pulse that continues to keep time with the music after the taps stop.

  • Blend

    Combines two or more chops in input 2, 3 and so on, by using a set of blending channels in input 1.

  • BlendPose

    Performs multi-dimensional, example-based interpolation of channels.

  • Channel

    Creates channels from the value of its parameters.

  • Channel VOP

    Contains a VOP network that can manipulate channel data.

  • Channel Wrangle

    Runs a VEX snippet to modify channel data.

  • Composite

    Layers (blends) the channels of one CHOP on the channels of another CHOP.

  • Constant

    Create up to forty new channels.

  • Constraint Blend

    Combines two or more CHOP inputs using a list of weights specified as parameters.

  • Constraint Get Local Space

    Returns an Object Local Transform.

  • Constraint Get Parent Space

    Returns an Object Parent Transform.

  • Constraint Get World Space

    Returns an Object World Transform.

  • Constraint Lookat

    Constrains rotation so it always points toward a target position.

  • Constraint Object

    Compares two objects and returns information on their relative positions and orientations.

  • Constraint Object Offset

    Compares two objects and returns information on their relative positions and orientations.

  • Constraint Object Pretransform

    Returns an Object Pretransform.

  • Constraint Offset

    Applies an transformation offset after evaluating a constraint.

  • Constraint Parent

    Reparent an object.

  • Constraint Path

    Position an object on a path and orient it to the path’s direction.

  • Constraint Points

    Position and Orient an object using point positions from a geometry.

  • Constraint Sequence

    Combines multiple chops by blending the inputs in sequence.

  • Constraint Simple Blend

    Combines two chops by using a single weight specified as a parameter.

  • Constraint Surface

    Position and Orient an object using the surface of a geometry.

  • Constraint Transform

    Takes translate, rotate, and/or scale channels and transforms them.

  • Copy

    Produces multiple copies of the second input along the timeline of the first input.

  • Count

    Counts the number of times a channel crosses a trigger or release threshold.

  • Cycle

    Creates cycles.

  • Delay

    Delays the input, and can be run in normal or time-sliced mode.

  • Delete

    Removes channels coming from its input.

  • Device Transform

    Turns data from device inputs into transform data

  • Dynamic Warp

    Time-warps the node’s first input (source clip) using its second input (reference clip) as a reference.

  • Dynamics

    Extracts any information from a DOP simulation that is accessible through the dopfield expression function.

  • Envelope

    Outputs the maximum amplitude in the vicinity of each sample of the input.

  • Euler Rotation Filter

    Fixes discontinuity of rotation data after cracking matrices

  • Export

    A convenient tool for exporting channels.

  • Export Constraints

    Export Constraints Network on any object

  • Export Transforms

    Export Transforms to Constraints Network of many objects

  • Expression

    Modify input channels by using expressions.

  • Extend

    Only sets the extend conditions of a chop, which determines what values you get when sampling the CHOP before or after its interval.

  • Extract Bone Transforms

    (Deprecated) Extracts the current world or local space bone transforms from a geometry object.

  • Extract Locomotion

    Extracts locomotion from an animation clip.

  • Extract Pose-Drivers

    (Deprecated) Creates channels from the specified derived transforms, node parameters and CHOP channels for pose-space deformation.

  • FBX

    Reads in channel data from an FBX file.

  • Fan

    Used for controlling other CHOPs.

  • Feedback

    Get the state of a chop as it was one frame or time slice ago.

  • Fetch Channels

    Imports channels from other CHOPs.

  • Fetch Parameters

    Imports channels from other OPs.

  • File

    Reads in channel and audio files for use by chops.

  • Filter

    Smooths or sharpens the input channels.

  • Foot Plant

    Computes when position channels are stationary.

  • Foreach

    Divides the input channels into groups, cooking the contained network for each group.

  • Function

    Provides more complicated math functions than found in the Math CHOP such as trigonometic functions, logarithmic functions, and exponential functions.

  • Gamepad

    Turns input values for the gamepad or joystick device into channel outputs.

  • Geometry

    Uses a geometry object to choose a sop from which the channels will be created.

  • Gesture

  • Handle

    The engine which drives Inverse Kinematic solutions using the Handle object.

  • Hold

    Sample and hold the value of the first input.

  • IKSolver

    Solves inverse kinematics rotations for bone chains.

  • Identity

    Returns an identity transform.

  • Image

    Converts rows and/or columns of pixels in an image to CHOP channels.

  • Interpolate

    Treats its multiple-inputs as keyframes and interpolates between them.

  • InverseKin

    Generates channels for bone objects based on a bone chain and an end affector.

  • Invert

    Returns an invert transform of the input.

  • Jiggle

    Creates a jiggling effect in the translate channels passed in.

  • Keyboard

    Turns key presses into channel output.

  • Lag

    Adds lag and overshoot to channels.

  • Layer

    Mix weighted layers of keyframed animation from multiple Channel CHOPs to a base Channel CHOP.

  • Limit

    Provides a variety of functions to limit and quantize the input channels.

  • Logic

    Converts channels of all its input chops into binary channels and combines them using a variety of logic operations.

  • Lookup

    Uses a channel in the first input to index into a lookup table in the second input, and output values from the lookup table.

  • MIDI In

    The MIDI In CHOP reads Note events, Controller events, Program Change events, and Timing events from both midi devices and files.

  • MIDI Out

    The MIDI Out CHOP sends MIDI events to any available MIDI devices.

  • Math

    Perform a variety of arithmetic operations on and between channels.

  • Merge

    Takes multiple inputs and merges them into the output.

  • Mouse

    Outputs X and Y screen values for the mouse device.

  • Mouse 3D

    Turns input values for the Connexion space mouse into channel outputs.

  • Multiply

    Post multiplies all the input transformations.

  • Network

    Similar to the Pipe In/Out CHOPs in Network mode.

  • Noise

    Makes an irregular wave that never repeats, with values approximately in the range -1 to +1.

  • Null

    Used as a place-holder and does not have a function of its own.

  • Object

    Compares two objects and returns information on their relative positions and orientations.

  • ObjectChain

    Creates channels representing the transforms for a chain of objects.

  • Oscillator

    Generates sounds in two ways.

  • Output

    Marks the output of a sub-network.

  • Parametric EQ

    Filters an audio clip, and then applies other audio effects.

  • Particle

    Produces translate and rotate channels to move Objects according to the positions of particles in a POP Network.

  • Pass Filter

    Filters audio input using one of four different filter types.

  • Phoneme

    Translates english text into a series of phonetic values.

  • Pipe In

    Pipes data from custom devices into a CHOP, without needing the Houdini Developers' Kit or knowledge of Houdini internals.

  • Pipe Out

    Transmit data out of Houdini to other processes.

  • Pitch

    Attempts to extract the fundamental pitch of a musical tone from the input audio.

  • Pose

    Store a transform pose for later use by evaluating the input.

  • Pose Difference

    Computes the difference between two poses.

  • Pretransform

    Takes translate, rotate, and/or scale channels and transforms them using the pretransform of the given object.

  • Pulse

    Generates pulses at regular intervals of one channel.

  • ROP Channel Output

  • Record

  • Rename

    Renames channels.

  • Reorder

    Reorders the first input CHOP’s channels by numeric or alphabetic patterns.

  • Resample

    Resamples an input’s channels to a new rate and/or start/end interval.

  • Sequence

    Takes all its inputs and appends one chop after another.

  • Shift

    This time-shifts a CHOP, changing the start and end of the CHOP’s interval.

  • Shuffle

    Reorganizes a list of channels.

  • Slope

    Calculates the slope (or derivative) of the input channels.

  • Spatial Audio

    The rendering engine for producing 3D audio.

  • Spectrum

    Calculates the frequency spectrum of the input channels, or a portion of the channels.

  • Spline

    Edit the channel data by using direct manipulation of cubic or Bezier handles in the graph of the CHOP.

  • Spring

    Creates vibrations influenced by the input channels, as if a mass was attached to a spring.

  • Stash

    Caches the input motion in the node on command, and then uses it as the node’s output.

  • Stash Pose

    (Deprecated) Stashes the bone transforms and pose-drivers for use by the Pose-Space Deform SOP and Pose-Space Edit SOP nodes.

  • Stretch

    Preserves the shape of channels and the sampling rate, but resamples the channels into a new interval.

  • Subnetwork

    Allows for the simplification of complex networks by collapsing several CHOPs into one.

  • Switch

    Control the flow of channels through a CHOPnet.

  • Time Range

    This converts an input node in Current Frame mode to a Time Range mode by re-cooking it multiple times.

  • Time Shift

    This time-shifts a CHOP, re-cooking the node using different time.

  • Transform

    Takes translate, rotate, and/or scale channels and transforms them.

  • Transform VOP CVEX

    Contains a VOP network that can manipulate transform data.

  • TransformChain

    Combines a chain of translate, rotate, and/or scale channels.

  • Trigger

    Adds an audio-style attack/decay/sustain/release (ADSR) envelope to all trigger points in the input channels.

  • Trim

    Shortens or lengthens the input’s channels.

  • VEX Waveform

    This function is a sub-set of the waveform CHOP.

  • Vector

    Performs vector operations on a set or sets of channels.

  • Voice Split

    The Voice Split CHOP takes an audio track and separates words out into different channels.

  • Voice Sync

    The Voice Sync CHOP detects phonemes in an audio channel given some audio phoneme samples and pro…

  • Warp

    Time-warps the channels of the first input (the Pre-Warp Channels) using one warping channel in the second input.

  • Wave

    Creates a waveform that is repeated.