IKControl

By specifying a ChainRoot and an EndEffector, you instruct the IKControl that it's allowed to move and rotate all parts between the two to move the EndEffector to the Target. For example, if you specify the LeftHand as EndEffector and LeftUpperArm as the ChainRoot, the control moves 3 parts: the LeftHand, the LeftLowerArm, and the LeftUpperArm. Avoid setting ChainRoot as the actual root of the character because that produces unrealistic results.

This property allows you to toggle the IK control on and off. It's on by default. When Enabled is false, the IK control is off and isn't resolved by the underlying solver.

The EndEffector describes the last part in the chain of your character that you want to affect. For example, it could be the hand when you want to move the whole arm to reach a point. It can be a BasePart on a character, that has a Motor6D as its child, a Motor6D directly, a Bone, or a Attachment. The pivot of the selected EndEffector moves to the Target, so you can use Attachments to modify which point of a BasePart should reach the Target.

The end-effector offset is an additional CFrame applied on top of the Target CFrame that produces the final CFrame used to place the EndEffector. By default, it's the identity CFrame, so if you don't set it, it has no effect and the EndEffector uses the Target CFrame directly, which is specified in the local space of the EndEffector.

Alternatively, you can use Attachments by setting an Attachment as EndEffector, which moves it to the Target instead of the parts it's attached to, effectively obtaining the same result.

You can also use EndEffectorOffset to modify which axis of the EndEffector should point at the Target when using LookAt as Type.

The offset is an additional CFrame applied on top of the Target CFrame that produces the final CFrame used to place the EndEffector. It's identity by default, so if you don't set it, it has no effect and the EndEffector will use the Target CFrame directly. You can animate it to create procedural animations such as typing on a keyboard. It's useful when the Target and EndEffector aren't aligned and you need to fix it with an additional rotation or translation.

The Pole is an optional Instance that gives you control over how intermediate parts in your character should bend. It can be anything that has a position in the world, such as BasePart, Attachment, Bone, Motor6D. It is by default nil. When you specify it, the underlying solver will make the parts bend towards it. When it is nil, the solver will try to make elbows and knees bend appropriately based on the limb of the character. The limb will be "Arm" when you select as EndEffector either the LeftHand or RightHand and as ChainRoot the corresponding LeftUpperArm or RightUpperArm, and it will be "Leg" when you select as EndEffector either the LeftFoot or RightFoot and as ChainRoot the corresponding LeftUpperLeg or RightUpperLeg. In all other cases, if you don't specify a pole, the chain might not bend as you expect.

When multiple controls are active on a character, the order in which they are solved by the underlying system affects the final generated pose. By changing this value, you specify the ordering in which controls are satisfied. Higher values have higher priority, and higher-priority controls are resolved later because their result might override the previous result of other controls. If you have multiple IK controls on a character and one is more important than the other, specify a lower priority for it. It is 0 by default, meaning all controls have the same priority.

This value specifies the average number of seconds that it takes for the EndEffector to reach the Target. The behavior is that of a critically-damped spring, where the rate of change is proportional to the distance to the target and no oscillations are present when approaching the target. Smaller values create a quicker convergence, and larger values create a slower convergence. A value of 0 disables smoothing. The default value is 0.05 to provide a very slight smoothing that makes the motion feel realistic.

The Target represents a point (CFrame) in the world that you want your EndEffector to reach. The exact behavior of reaching can be set via the Type property, and an additional Offset can be applied on top of it to modify it. If you set a Target that will be moved either by physics or a script, at each frame the IKControl will try to satisfy it, automatically updating the point to reach.

By changing the Type, you can change the behavior of the control. These are the available options:

• Transform: it's a full 6-DoF constraint. Aligns the EndEffector CFrame to that of the Target.
• Position: aligns the EndEffector position to that of the Target.
• Rotation: aligns the EndEffector rotation to that of the Target.
• LookAt: moves and orients the whole chain to make an axis (by default the forward axis) on the EndEffector point at a position in the world specified by Target.

You can control how much a given control affects the character pose by using this property. Values should be in the [0, 1] range. 0 means no effect, and 1 means full effect of the IK control. Values outside this range are truncated. Smoothly varying this value allows you to blend in or out a specific control to avoid jarring motion. It is 1 by default.

The weight determines the interpolation factor between the End-Effector and the IK target. Setting the weight to 0 doesn't disable the IK Control because other factors, including the SmoothTime smoothing factor and Pole, can still change the pose. To truly disable the IK Control, turn the Enabled property to false.

Returns the number of segments in the IK chain, meaning the number of parent-child links between the ChainRoot and the EndEffector. A chain of three parts has a count of 2.

The chain always has one more node than it has segments, so the valid indices for GetNodeWorldCFrame() and GetNodeLocalCFrame() range from 1 to the returned count plus 1. This returns 0 when the IKControl doesn't resolve to a valid chain, such as when its required properties aren't set.

Returns the total length of the IK chain in studs, computed as the sum of the world-space distances between each consecutive part from the EndEffector up to the ChainRoot. This is the maximum reach of the chain: a Target placed farther than this distance from the chain's base can't be reached, and the chain extends toward it as far as it can.

This returns 0 when the IKControl doesn't resolve to a valid chain, such as when its required properties aren't set.

Returns the CFrame of the node at the given index in the solved IK chain, relative to its parent node. Nodes are ordered from the ChainRoot at index 1 to the EndEffector at GetChainCount() plus 1.

This reflects the pose most recently produced by the solver. Use GetNodeWorldCFrame() for the same node in world space. If the index is outside the valid range, or the IKControl hasn't resolved a valid chain, this returns the identity CFrame.

Returns the world-space CFrame of the node at the given index in the solved IK chain. Nodes are ordered from the ChainRoot at index 1 to the EndEffector at GetChainCount() plus 1.

This reflects the pose most recently produced by the solver. Use GetNodeLocalCFrame() for the same node relative to its parent. If the index is outside the valid range, or the IKControl hasn't resolved a valid chain, this returns the identity CFrame.

Returns the CFrame that the solver aims the EndEffector at on the current frame, before SmoothTime smoothing is applied. This is the Target after Weight, Offset, and EndEffectorOffset are factored in. For a LookAt Type, it's the world position the chain is oriented toward.

Compare with GetSmoothedFinalTarget(), which returns the same target after smoothing. The two are equal when SmoothTime is 0.

Returns the CFrame that the solver aims the EndEffector at on the current frame, after SmoothTime smoothing has been applied to the raw target from GetRawFinalTarget(). Smoothing uses a critically damped spring that eases toward the raw value over roughly SmoothTime seconds.

Because SmoothTime defaults to 0.05, this value trails GetRawFinalTarget() slightly while the target moves. When SmoothTime is 0, this returns the same CFrame as GetRawFinalTarget.