Final IK

http://www.root-motion.com/finalikdox/html/
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Final IK is a comprehensive inverse kinematics system for Unity that provides multiple IK solvers...
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### StartInteraction

Source: http://www.root-motion.com/finalikdox/html/functions_func_0x73.html

Starts an interaction with the InteractionSystem.

```APIDOC
## StartInteraction() : InteractionSystem

### Description
Starts an interaction with the InteractionSystem.

### Method
Not specified (assumed to be a method call on an InteractionSystem object).

### Endpoint
Not applicable (SDK/Library function).

### Parameters
None explicitly documented.

### Request Example
```
// Example usage (language not specified):
// interactionSystem.StartInteraction();
```

### Response
None explicitly documented.
```

--------------------------------

### IKSolverAim Initialization

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_aim_i_k_af169833f70721bcc3b93694873eac1ae.html

Demonstrates how to get and initialize an Aim IK solver.

```APIDOC
## GetIKSolver

### Description
Retrieves the Aim IK solver.

### Method
Get

### Endpoint
/GetIKSolver

### Parameters
None

### Response
#### Success Response (200)
- **solver** (IKSolverAim) - The Aim IK solver instance.

### Request Example
None

### Response Example
```json
{
  "solver": "IKSolverAim"
}
```

## IKSolverAim Constructor

### Description
Initializes a new instance of the IKSolverAim class.

### Method
Constructor

### Endpoint
N/A

### Parameters
None

### Response
#### Success Response (200)
- Returns a new IKSolverAim object.

### Request Example
None

### Response Example
```json
{
  "instance": "IKSolverAim"
}
```
```

--------------------------------

### references

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_full_body_biped_i_k-members.html

Holds the references for the Biped IK setup.

```APIDOC
## references

### Description
Holds the references for the Biped IK setup.

### Method
(Property of FullBodyBipedIK)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
(Type of BipedReferences)

### Error Handling
None
```

--------------------------------

### IKSolverLookAt Solver Initialization

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_look_at_i_k_a8baf3cb16f0d73872e563bff4600935d.html

This snippet shows how to get and initialize the IKSolverLookAt.

```APIDOC
## GetIKSolver

### Description
Retrieves the IKSolverLookAt instance.

### Method
(Implicitly a getter)

### Endpoint
(Not applicable, this is an SDK method)

### Parameters
None

### Request Example
(Not applicable)

### Response
#### Success Response
- **solver** (IKSolverLookAt) - The initialized LookAt IK solver.

### Response Example
```csharp
IKSolverLookAt solver = new IKSolverLookAt()
```

### Details
The LookAt IK solver is used for controlling the direction an object is looking.
```

--------------------------------

### initiated

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k.html

Gets a value indicating whether this IKSolver has successfully initiated.

```APIDOC
## initiated

### Description
Gets a value indicating whether this IKSolver has successfully initiated.

### Method
bool [get, set]

### Returns
- True if the solver has been initiated, false otherwise.
```

--------------------------------

### initiated

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Gets a value indicating whether this IKSolver has successfully initiated.

```APIDOC
## initiated

### Description
Gets a value indicating whether this IKSolver has successfully initiated.

### Type
bool

### Access
get, set
```

--------------------------------

### initiated

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Gets a value indicating whether this IKSolver has successfully initiated.

```APIDOC
## initiated

### Description
Gets a value indicating whether this IKSolver has successfully initiated.

### Property
```csharp
bool initiated { get; set; }
```
```

--------------------------------

### Functions starting with 'G' (Continued)

Source: http://www.root-motion.com/finalikdox/html/functions_0x67.html

This section continues the documentation for functions starting with 'G'.

```APIDOC
## GrounderDelegate()

### Description
Sets or retrieves the delegate for the grounder system.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Delegate** (object) - The grounder delegate.

#### Response Example
N/A
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_aad3448f0e3759afd540e09d754dd3390.html

Initializes the IK solver.

```APIDOC
## Initiate

### Description
Initiates the IK solver.

### Method
(Implicitly an initialization method)

### Endpoint
(Not applicable for SDK methods)

### Parameters
None

### Request Example
None

### Response
#### Success Response
(Typically returns void or a success status, not explicitly defined in source)
```

--------------------------------

### OnPostInitiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Called after initiating the solver.

```APIDOC
## OnPostInitiate

### Description
Called after initiating the solver.

### Delegate
```csharp
UpdateDelegate OnPostInitiate
```
```

--------------------------------

### Properties starting with 'G'

Source: http://www.root-motion.com/finalikdox/html/functions_0x67.html

This section lists properties that start with the letter 'G', which are accessible attributes of various classes.

```APIDOC
## goal

### Description
Represents the goal of an IK limb solver.

### Method
N/A (Property Access)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Goal** (object) - The goal object.

#### Response Example
N/A
```

```APIDOC
## goalPositionChest

### Description
Specifies the goal position for the chest in a VR IK solver's spine.

### Method
N/A (Property Access)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **GoalPosition** (Vector) - The chest goal position.

#### Response Example
N/A
```

```APIDOC
## gravity

### Description
Defines the gravity setting for a quadruped grounder.

### Method
N/A (Property Access)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Gravity** (Vector) - The gravity vector.

#### Response Example
N/A
```

--------------------------------

### Using IK Solvers Directly

Source: http://www.root-motion.com/finalikdox/html/page17.html

Demonstrates how to instantiate and initiate IK solvers like IKSolverCCD and IKSolverLimb directly, bypassing components. This is useful for advanced customization or when managing solvers within a single custom component.

```csharp
using RootMotion.FinalIK;
public IKSolverCCD spine = new IKSolverCCD();
public IKSolverLimb limb = new IKSolverLimb();
void Start() {
// The root transform reference is used in the initiation of IK solvers for multiple reasons depending on the solver.
// heuristic solvers IKSolverCCD, IKSolverFABRIK and IKSolverAim only need it as context for logging warnings, 
// character solvers IKSolverLimb, IKSolverLookAt, BipedIK and IKSolverFullBodyBiped use it to define their orientation relative to the character,
// IKSolverFABRIKRoot uses it as the root of all of its FABRIK chains.
spine.Initiate(transform);
limb.Initiate(transform);
}
void LateUpdate() {
// Updating the IK solvers in a specific order.
// In the case of multiple IK solvers handling a bone hierarchy, it is usually wise to solve the parents first.
spine.Update();
limb.Update();
}
```

--------------------------------

### Functions starting with 'G'

Source: http://www.root-motion.com/finalikdox/html/functions_0x67.html

This section details functions that start with the letter 'G', providing insights into their purpose and usage within the root motion system.

```APIDOC
## GetAncestor()

### Description
Retrieves the ancestor of a given element in the hierarchy.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Ancestor** (Hierarchy) - The ancestor element.

#### Response Example
N/A
```

```APIDOC
## GetAngle()

### Description
Calculates and returns the angle related to an IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Angle** (float) - The calculated angle.

#### Response Example
N/A
```

```APIDOC
## GetAxisToDirection()

### Description
Determines the axis vector that points from one direction to another.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **AxisVector** (Vector) - The resulting axis vector.

#### Response Example
N/A
```

```APIDOC
## GetAxisToPoint()

### Description
Calculates the axis vector pointing towards a specific point.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **AxisVector** (Vector) - The calculated axis vector.

#### Response Example
N/A
```

```APIDOC
## GetAxisVectorToDirection()

### Description
Retrieves an axis vector that aligns with a given direction.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **AxisVector** (Vector) - The axis vector.

#### Response Example
N/A
```

```APIDOC
## GetAxisVectorToPoint()

### Description
Gets the axis vector that points to a specified point.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **AxisVector** (Vector) - The axis vector.

#### Response Example
N/A
```

```APIDOC
## GetBendConstraint()

### Description
Retrieves the bend constraint from a full body biped IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **BendConstraint** (object) - The bend constraint.

#### Response Example
N/A
```

```APIDOC
## GetBoneMap()

### Description
Returns the bone mapping for a limb in an IK setup.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **BoneMap** (IKMappingLimb) - The limb's bone mapping.

#### Response Example
N/A
```

```APIDOC
## GetChain()

### Description
Retrieves the chain of bones from an IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Chain** (Array of bones) - The bone chain.

#### Response Example
N/A
```

```APIDOC
## GetChainIndex()

### Description
Gets the index of a specific chain within the IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **ChainIndex** (int) - The index of the chain.

#### Response Example
N/A
```

```APIDOC
## GetClosestInteractionObjectInRange()

### Description
Finds the nearest interaction object within a specified range.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **InteractionObject** (object) - The closest interaction object.

#### Response Example
N/A
```

```APIDOC
## GetClosestInteractionObjectsInRange()

### Description
Retrieves all interaction objects within a given range.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **InteractionObjects** (Array of objects) - A list of interaction objects.

#### Response Example
N/A
```

```APIDOC
## GetClosestInteractionRange()

### Description
Determines the closest interaction range available.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Range** (float) - The closest interaction range.

#### Response Example
N/A
```

```APIDOC
## GetClosestInteractionTargetInRange()

### Description
Finds the nearest interaction target within the specified range.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **InteractionTarget** (object) - The closest interaction target.

#### Response Example
N/A
```

```APIDOC
## GetClosestInteractionTargetsInRange()

### Description
Retrieves all interaction targets within a specified range.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **InteractionTargets** (Array of objects) - A list of interaction targets.

#### Response Example
N/A
```

```APIDOC
## GetClosestTriggerIndex()

### Description
Gets the index of the closest trigger within range.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **TriggerIndex** (int) - The index of the closest trigger.

#### Response Example
N/A
```

```APIDOC
## GetEffector()

### Description
Retrieves an effector from an IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Effector** (IKEffector) - The requested effector.

#### Response Example
N/A
```

```APIDOC
## GetEndEffector()

### Description
Gets the end effector of a full body biped IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **EndEffector** (IKEffector) - The end effector.

#### Response Example
N/A
```

```APIDOC
## GetFirstCommonAncestor()

### Description
Finds the first common ancestor in a hierarchy.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **CommonAncestor** (Node) - The first common ancestor.

#### Response Example
N/A
```

```APIDOC
## GetFirstCommonAncestorRecursive()

### Description
Recursively finds the first common ancestor in a hierarchy.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **CommonAncestor** (Node) - The first common ancestor.

#### Response Example
N/A
```

```APIDOC
## GetGoalIK()

### Description
Retrieves the IK goal for a biped system.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **GoalIK** (object) - The IK goal.

#### Response Example
N/A
```

```APIDOC
## GetHeadMapping()

### Description
Gets the head bone mapping from a full body biped IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **HeadMapping** (object) - The head bone mapping.

#### Response Example
N/A
```

```APIDOC
## GetHitPoint

### Description
Retrieves the hit point information for a leg in the grounding system.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **HitPoint** (Vector) - The point where the leg hit the ground.

#### Response Example
N/A
```

```APIDOC
## GetIKPosition()

### Description
Gets the current IK position of a solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **IKPosition** (Vector) - The IK position.

#### Response Example
N/A
```

```APIDOC
## GetIKPositionWeight()

### Description
Retrieves the weight applied to the IK position.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Weight** (float) - The IK position weight.

#### Response Example
N/A
```

```APIDOC
## GetIKRotation()

### Description
Gets the current IK rotation of a solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **IKRotation** (Quaternion) - The IK rotation.

#### Response Example
N/A
```

```APIDOC
## GetIKRotationWeight()

### Description
Retrieves the weight applied to the IK rotation.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Weight** (float) - The IK rotation weight.

#### Response Example
N/A
```

```APIDOC
## GetIKSolver()

### Description
Retrieves the IK solver associated with a component.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **IKSolver** (IKSolver) - The IK solver instance.

#### Response Example
N/A
```

```APIDOC
## GetInteractionObject()

### Description
Retrieves a specific interaction object.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **InteractionObject** (object) - The interaction object.

#### Response Example
N/A
```

```APIDOC
## GetLimbMapping()

### Description
Gets the limb mapping from a full body biped IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **LimbMapping** (object) - The limb mapping.

#### Response Example
N/A
```

```APIDOC
## GetLimitedLocalRotation()

### Description
Retrieves a limited local rotation value.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **LimitedRotation** (Quaternion) - The limited local rotation.

#### Response Example
N/A
```

```APIDOC
## GetMinActiveProgress()

### Description
Returns the minimum active progress threshold for interactions.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **MinProgress** (float) - The minimum progress value.

#### Response Example
N/A
```

```APIDOC
## GetNode()

### Description
Retrieves a specific node, likely within a hierarchy or structure.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Node** (Node) - The requested node.

#### Response Example
N/A
```

```APIDOC
## GetPoint()

### Description
Retrieves a specific point from an IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Point** (Vector) - The requested point.

#### Response Example
N/A
```

```APIDOC
## GetPoints()

### Description
Retrieves all points associated with an IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Points** (Array of Vectors) - A list of points.

#### Response Example
N/A
```

```APIDOC
## GetPose()

### Description
Retrieves the pose information from a poser object.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Pose** (Pose) - The pose data.

#### Response Example
N/A
```

```APIDOC
## GetProgress()

### Description
Returns the current progress of an interaction or process.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Progress** (float) - The progress value.

#### Response Example
N/A
```

```APIDOC
## GetRoot()

### Description
Retrieves the root element of an IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Root** (Node) - The root element.

#### Response Example
N/A
```

```APIDOC
## GetRootHit()

### Description
Gets the hit information for the root of the grounding system.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **RootHit** (object) - The root hit information.

#### Response Example
N/A
```

```APIDOC
## GetSpineMapping()

### Description
Gets the spine bone mapping from a full body biped IK solver.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **SpineMapping** (object) - The spine bone mapping.

#### Response Example
N/A
```

```APIDOC
## GetTarget()

### Description
Retrieves a specific interaction target.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Target** (object) - The interaction target.

#### Response Example
N/A
```

```APIDOC
## GetTransforms()

### Description
Retrieves the transforms for a set of references, likely in a VRIK system.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Transforms** (Array of Transforms) - The transforms.

#### Response Example
N/A
```

```APIDOC
## GetTriggerRange()

### Description
Returns the range of a trigger.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Range** (float) - The trigger range.

#### Response Example
N/A
```

```APIDOC
## GuessHandOrientations()

### Description
Attempts to guess the correct orientations for hands in a VRIK or IK solver setup.

### Method
N/A (Function Call)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
#### Success Response
- **Success** (bool) - Indicates if the orientations were successfully guessed.

#### Response Example
N/A
```

--------------------------------

### OnPostInitiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Delegate event called after initiating the solver.

```APIDOC
## OnPostInitiate

### Description
Delegate event called after initiating the solver.

### Type
UpdateDelegate
```

--------------------------------

### GetRoot

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_limb.html

Gets the root Transform.

```APIDOC
## GetRoot

### Description
Retrieves the root Transform of the IK chain.

### Method
Transform GetRoot()
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_v_r-members.html

Gets all the points in the solver.

```APIDOC
## GetPoints

### Description
Gets all the points in the solver.

### Method
IKSolverVR

### Virtual
True
```

--------------------------------

### OnPreInitiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Called before initiating the solver.

```APIDOC
## OnPreInitiate

### Description
Called before initiating the solver.

### Delegate
```csharp
UpdateDelegate OnPreInitiate
```
```

--------------------------------

### Initiate()

Source: http://www.root-motion.com/finalikdox/html/functions_func_0x69.html

Initializes a component, potentially related to constraints, grounding, twist solving, interaction objects, or IK solvers.

```APIDOC
## Initiate()

### Description
Initializes a component. The specific type of initialization depends on the context and the return type.

### Returns
- Constraints
- Grounding
- TwistSolver
- InteractionObject
- IKSolver
```

--------------------------------

### GetRoot

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Gets the root Transform.

```APIDOC
## GetRoot

### Description
Gets the root Transform.

### Method
```csharp
Transform GetRoot()
```
```

--------------------------------

### GetIKRotation

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_limb.html

Gets the IK rotation.

```APIDOC
## GetIKRotation

### Description
Retrieves the current IK rotation.

### Method
Quaternion GetIKRotation()
```

--------------------------------

### Initiate Method

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_twist_solver_ab43bd356f22f09bb56784ffac7aa88f9.html

Initializes the TwistSolver instance. This method should be called before using other methods of the solver.

```APIDOC
## void Initiate ()

### Description
Initiate this TwistSolver

### Method
void

### Parameters
None

### Request Example
None

### Response
None
```

--------------------------------

### GetRoot

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_arm.html

Gets the root Transform.

```APIDOC
## GetRoot

### Description
Gets the root Transform.

### Method
`Transform GetRoot()`

### Returns
The root Transform of the solver.
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k.html

Initializes the solver with a specified root transform. Use this method only if the solver is not part of an IK component.

```APIDOC
## Initiate

### Description
Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

### Method
void

### Parameters
#### Path Parameters
- **root** (Transform) - Required - The root transform to initiate the solver with.
```

--------------------------------

### GetRoot

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Gets the root Transform.

```APIDOC
## GetRoot

### Description
Gets the root Transform.

### Method
Transform
```

--------------------------------

### IKSolverLookAt Methods

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_look_at_a3e4f6f89b9c012177013a7791295b3d4.html

Provides methods for initializing and managing the look-at solver, including setting up chains and weights.

```APIDOC
## Methods

### `FixTransforms()`
- **Description**: Fixes the transforms of the solver.

### `GetPoint(int index)`
- **Description**: Gets the point at the specified index.
- **Parameters**:
  - `index` (int) - The index of the point.

### `GetPoints()`
- **Description**: Gets all the points in the solver.

### `IsValid()`
- **Description**: Checks if the solver is valid.

### `SetChain(Transform first, Transform last, params Transform[] bones)`
- **Description**: Sets the bone chain for the solver.
- **Parameters**:
  - `first` (Transform) - The first bone in the chain.
  - `last` (Transform) - The last bone in the chain.
  - `bones` (params Transform[]) - Additional bones in the chain.

### `SetLookAtWeight(float weight)`
- **Description**: Sets the look at weight for the entire solver.
- **Parameters**:
  - `weight` (float) - The weight to apply.

### `SetLookAtWeight(float bodyWeight, float headWeight, float eyesWeight)`
- **Description**: Sets the look at weights for body, head, and eyes.
- **Parameters**:
  - `bodyWeight` (float) - The weight for the body.
  - `headWeight` (float) - The weight for the head.
  - `eyesWeight` (float) - The weight for the eyes.

### `SetLookAtWeight(float bodyWeight, float headWeight, float eyesWeight, float bodyClamp, float headClamp, float eyesClamp)`
- **Description**: Sets the look at weights and clamp values for body, head, and eyes.
- **Parameters**:
  - `bodyWeight` (float) - The weight for the body.
  - `headWeight` (float) - The weight for the head.
  - `eyesWeight` (float) - The weight for the eyes.
  - `bodyClamp` (float) - The clamp value for the body.
  - `headClamp` (float) - The clamp value for the head.
  - `eyesClamp` (float) - The clamp value for the eyes.

### `SetLookAtWeight(float weight, float clampWeight)`
- **Description**: Sets the look at weight and clamp weight for the solver.
- **Parameters**:
  - `weight` (float) - The weight to apply.
  - `clampWeight` (float) - The clamp weight to apply.

### `SetLookAtWeight(float weight, float clampWeight, float eyesWeight)`
- **Description**: Sets the look at weight, clamp weight, and eyes weight.
- **Parameters**:
  - `weight` (float) - The weight to apply.
  - `clampWeight` (float) - The clamp weight to apply.
  - `eyesWeight` (float) - The eyes weight to apply.

### `SetLookAtWeight(float weight, float clampWeight, float clampWeightHead, float clampWeightEyes)`
- **Description**: Sets the look at weight and clamp weights for the solver, head, and eyes.
- **Parameters**:
  - `weight` (float) - The weight to apply.
  - `clampWeight` (float) - The clamp weight for the body.
  - `clampWeightHead` (float) - The clamp weight for the head.
  - `clampWeightEyes` (float) - The clamp weight for the eyes.

### `StoreDefaultLocalState()`
- **Description**: Stores the default local state of the solver.
```

--------------------------------

### VRIK Solver Initialization

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_v_r_i_k_a9da4571098a7f015bf3da4cd3b50c231.html

Demonstrates the initialization of the IKSolverVR for the VRIK class.

```APIDOC
## IKSolverVR solver

### Description
The solver used for VR Inverse Kinematics.

### Initialization
```csharp
IKSolverVR solver = new IKSolverVR()
```
```

--------------------------------

### Start Interaction via Script

Source: http://www.root-motion.com/finalikdox/html/page10.html

Use this script to initiate an interaction with an object. Ensure you have references to the InteractionSystem and the target InteractionObject. The 'interrupt' boolean controls whether new interactions can start before the current one finishes.

```csharp
using RootMotion.FinalIK;
public InteractionSystem interactionSystem; // Reference to the InteractionSystem component on the character
public InteractionObject button; // The object to interact with
public bool interrupt; // If true, interactions can be called before the current interaction has finished
void OnGUI() {
// Starting an interaction
if (GUILayout.Button("Press Button")) {
interactionSystem.StartInteraction(FullBodyBipedEffector.RightHand, button, interrupt);
}
}
```

--------------------------------

### IKSolverFullBodyBiped Solver Initialization

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_full_body_biped_i_k_a4740cdc2e73a863f6b3643612aeb7238.html

Demonstrates how to initialize the IKSolverFullBodyBiped solver.

```APIDOC
## IKSolverFullBodyBiped Solver Initialization

### Description
Initializes a new instance of the IKSolverFullBodyBiped.

### Method
`new IKSolverFullBodyBiped()`

### Code Example
```csharp
IKSolverFullBodyBiped solver = new IKSolverFullBodyBiped();
```

### Notes
This is the constructor for the FullBodyBiped IK solver.
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_limb.html

Gets the point with the specified Transform.

```APIDOC
## GetPoint

### Description
Retrieves a specific point associated with a given Transform.

### Method
IKSolver.Point GetPoint(Transform transform)
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_limb.html

Gets all the points used by the solver.

```APIDOC
## GetPoints

### Description
Retrieves all the points that the IK solver utilizes.

### Method
IKSolver.Point[] GetPoints()
```

--------------------------------

### OnPreInitiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Delegate event called before initiating the solver.

```APIDOC
## OnPreInitiate

### Description
Delegate event called before initiating the solver.

### Type
UpdateDelegate
```

--------------------------------

### InitiateBipedIK

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_biped_i_k_afa94f0679539f1681ea70f0bab2b8043.html

Initializes the BipedIK system.

```APIDOC
## InitiateBipedIK

### Description
Initiates the BipedIK system.

### Method
void InitiateBipedIK()
```

--------------------------------

### GetIKRotationWeight

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_limb.html

Gets the IK rotation weight.

```APIDOC
## GetIKRotationWeight

### Description
Retrieves the current weight of the IK rotation influence.

### Method
float GetIKRotationWeight()
```

--------------------------------

### InitiateBipedIK

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_biped_i_k_a64ec2fd3c14508aa660c448703364fdf.html

Initializes the BipedIK solver.

```APIDOC
## InitiateBipedIK

### Description
Initializes the BipedIK solver. This method should be called before using other BipedIK methods.

### Method
void InitiateBipedIK()
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Gets the point with the specified Transform.

```APIDOC
## GetPoint

### Description
Gets the point with the specified Transform.

### Method
```csharp
override IKSolver.Point GetPoint(Transform transform)
```
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Gets all the points used by the solver.

```APIDOC
## GetPoints

### Description
Gets all the points used by the solver.

### Method
```csharp
override IKSolver.Point[] GetPoints()
```
```

--------------------------------

### InitiateBipedIK

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_biped_i_k_abb64d4e1ee8ca7cf6b93b5d9fc577e59.html

Initializes the BipedIK solver.

```APIDOC
## InitiateBipedIK

### Description
Initiates the BipedIK solver.

### Method
void InitiateBipedIK()

### Parameters
None
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_twist_solver.html

Initializes the TwistSolver. This method should be called before using other methods of the class.

```APIDOC
## Initiate

### Description
Initializes this TwistSolver.

### Method
void Initiate()

### Parameters
None
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_heuristic.html

Gets the point with the specified Transform.

```APIDOC
## GetPoint

### Description
Gets the point with the specified Transform.

### Method
IKSolver.Point

### Parameters
#### Path Parameters
- **transform** (Transform) - Required - The transform of the point to get.
```

--------------------------------

### SetupWarning

Source: http://www.root-motion.com/finalikdox/html/functions_func_0x73.html

Sets up a warning state for BipedReferences.

```APIDOC
## SetupWarning() : BipedReferences

### Description
Sets up a warning state for BipedReferences.

### Method
Not specified (assumed to be a method call on a BipedReferences object).

### Endpoint
Not applicable (SDK/Library function).

### Parameters
None explicitly documented.

### Request Example
```
// Example usage (language not specified):
// bipedReferences.SetupWarning();
```

### Response
None explicitly documented.
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_heuristic.html

Gets all the points used by the solver.

```APIDOC
## GetPoints

### Description
Gets all the points used by the solver.

### Method
IKSolver.Point[]
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_leg.html

Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

```APIDOC
## Initiate

### Description
Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

### Method
```csharp
void Initiate(Transform root)
```
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_heuristic-members.html

Gets all the bone positions in the hierarchy.

```APIDOC
## GetPoints

### Description
Gets all the bone positions in the hierarchy.

### Method Signature
`GetPoints()`
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_aad3448f0e3759afd540e09d754dd3390.html

Gets all points in the IK chain.

```APIDOC
## GetPoints

### Description
Gets all points in the IK chain.

### Method
(Implicitly a getter method)

### Endpoint
(Not applicable for SDK methods)

### Parameters
None

### Request Example
None

### Response
#### Success Response
- **Transform[]** - An array of Transforms representing all points in the IK chain.
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

```APIDOC
## Initiate

### Description
Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

### Method
void

### Parameters
* **root** (Transform) - The root transform of the IK chain.
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_heuristic.html

Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

```APIDOC
## Initiate

### Description
Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

### Method
void

### Parameters
#### Path Parameters
- **root** (Transform) - Required - The root Transform to initiate the solver with.
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Gets the point with the specified Transform.

```APIDOC
## GetPoint

### Description
Gets the point with the specified Transform.

### Method
override IKSolver.Point

### Parameters
* **transform** (Transform) - The transform of the point to retrieve.
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_f_a_b_r_i_k_root.html

Gets all the points used by the solver.

```APIDOC
## GetPoints

### Description
Gets all the points used by the solver.

### Method
override IKSolver.Point[]
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_arm.html

Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

```APIDOC
## Initiate

### Description
Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

### Method
`void Initiate(Transform root)`

### Parameters
* **root** (Transform) - The root transform to initiate the solver with.
```

--------------------------------

### GetIKPositionWeight

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_aad3448f0e3759afd540e09d754dd3390.html

Gets the weight of the IK position.

```APIDOC
## GetIKPositionWeight

### Description
Gets the weight of the IK position.

### Method
(Implicitly a getter method)

### Endpoint
(Not applicable for SDK methods)

### Parameters
None

### Request Example
None

### Response
#### Success Response
- **float** - The weight of the IK position.
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_limb.html

Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component.

```APIDOC
## Initiate

### Description
Initializes the IK solver using a specified root Transform. This method is intended for standalone solver usage, not when the solver is part of an IK component.

### Method
void Initiate(Transform root)
```

--------------------------------

### SetupWarning

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_biped_references-members.html

Sets up a warning message for BipedReferences.

```APIDOC
## SetupWarning

### Description
Sets up a warning message associated with the BipedReferences object.

### Method
static

### Parameters
- **references** (BipedReferences) - Required - The BipedReferences object to set the warning message for.
- **warningMessage** (string) - Required - The warning message to set.
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_arm.html

Gets the point with the specified Transform.

```APIDOC
## GetPoint

### Description
Gets the point with the specified Transform.

### Method
`override IKSolver.Point GetPoint(Transform transform)`

### Parameters
* **transform** (Transform) - The transform of the point to retrieve.

### Returns
The IKSolver.Point object associated with the specified transform.
```

--------------------------------

### Initialize LimbIK Solver

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_limb_i_k_ae596abcedddf274c8c6da2c06962f75a.html

Instantiates a new LimbIK solver. This is the basic setup for using the LimbIK functionality.

```csharp
IKSolverLimb solver = new IKSolverLimb()
```

--------------------------------

### GetIKPosition

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_aad3448f0e3759afd540e09d754dd3390.html

Gets the target position for the IK.

```APIDOC
## GetIKPosition

### Description
Gets the target position for the IK.

### Method
(Implicitly a getter method)

### Endpoint
(Not applicable for SDK methods)

### Parameters
None

### Request Example
None

### Response
#### Success Response
- **Transform** - The target position for the IK.
```

--------------------------------

### SetupError

Source: http://www.root-motion.com/finalikdox/html/functions_func_0x73.html

Sets up an error state for BipedReferences.

```APIDOC
## SetupError() : BipedReferences

### Description
Sets up an error state for BipedReferences.

### Method
Not specified (assumed to be a method call on a BipedReferences object).

### Endpoint
Not applicable (SDK/Library function).

### Parameters
None explicitly documented.

### Request Example
```
// Example usage (language not specified):
// bipedReferences.SetupError();
```

### Response
None explicitly documented.
```

--------------------------------

### GetPoints

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_arm.html

Gets all the points used by the solver.

```APIDOC
## GetPoints

### Description
Gets all the points used by the solver.

### Method
`override IKSolver.Point[] GetPoints()`

### Returns
An array of IKSolver.Point objects representing all points used by the solver.
```

--------------------------------

### Initialize FullBodyBipedIK Solver

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_full_body_biped_i_k_a4740cdc2e73a863f6b3643612aeb7238.html

Instantiate a new FullBodyBipedIK solver. This is the primary way to create an instance of the solver for use in your application.

```csharp
IKSolverFullBodyBiped solver = new IKSolverFullBodyBiped()
```

--------------------------------

### Recoil.Fire

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_recoil_aef687d233b769329e3c007b6052173f4.html

Starts the recoil procedure with a specified magnitude.

```APIDOC
## void Fire(float _magnitude)

### Description
Starts the recoil procedure.

### Method
void

### Parameters
#### Path Parameters
- **_magnitude** (float) - Required - The magnitude of the recoil to initiate.
```

--------------------------------

### Initialize IKSolverVR

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_v_r_i_k_a9da4571098a7f015bf3da4cd3b50c231.html

Initializes a new instance of the IKSolverVR. This is typically used to set up the solver for VR character rigging.

```csharp
IKSolverVR solver = new IKSolverVR()
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_v_r-members.html

Gets the transform of a specific point in the solver.

```APIDOC
## GetPoint

### Description
Gets the transform of a specific point in the solver.

### Method
IKSolverVR

### Parameters
- **transform** (Transform) - The transform to get the point for.

### Virtual
True
```

--------------------------------

### GetPoint

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_heuristic-members.html

Gets the position of a specific bone in the hierarchy.

```APIDOC
## GetPoint

### Description
Gets the position of a specific bone in the hierarchy.

### Method Signature
`GetPoint(Transform transform)`
```

--------------------------------

### SetupError

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_biped_references-members.html

Sets up an error message for BipedReferences.

```APIDOC
## SetupError

### Description
Sets up an error message associated with the BipedReferences object.

### Method
static

### Parameters
- **references** (BipedReferences) - Required - The BipedReferences object to set the error message for.
- **errorMessage** (string) - Required - The error message to set.
```

--------------------------------

### rightThighEffector

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_i_k_solver_full_body_biped_acaf3e2553cdbc5df756fd81548fe9641.html

Gets the IK effector for the right thigh.

```APIDOC
## Property: `rightThighEffector`

### Description
Gets the IK effector for the right thigh.

### Type
`IKEffector`

### Access
`get`
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounding.html

Initiate the Grounding as an integrated solver by providing the root Transform, leg solvers, pelvis Transform and spine solver.

```APIDOC
## Initiate

### Description
Initiate the Grounding as an integrated solver by providing the root Transform, leg solvers, pelvis Transform and spine solver.

### Method
`Initiate(Transform root, Transform[] feet)`

### Parameters
* **root** (Transform) - The root Transform of the character.
* **feet** (Transform[]) - An array of Transforms representing the character's feet.
```

--------------------------------

### Initiate

Source: http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_constraints.html

Initializes the constraints system with a given transform. This method should be called before any updates or operations that rely on the constraint's state.

```APIDOC
## Initiate

### Description
Initiate to the specified transform.

### Method
void

### Parameters
- transform (Transform): The transform to initiate the constraints with.

### Returns
None
```
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