Inverse Kinematics

#1

I’m looking for links to IK algorithms and/or source code. Not sure which type will be used (Jacobian or Trigonometric - most definitely not Analytic as it needs to be a general IK solver). Unsurprisingly, this is not discussed at any of the ‘game developer’ sites (FlipCode, DevMaster, Gamasutra) since games usally don’t require IK solvers and such.

Will search on IEEE and Google, but nice papers of mathematical derivations don’t really help in the implementation in the real world - as pretty as they look. :slight_smile:

Thank you very much,

Robert

#2

checkout ikan:

"IKAN is freely available (with source code) for non commercial purposes. Please fill in this formto register and the software will be emailed* to you. "

http://hms.upenn.edu/software/ik/

#3

I’ve already chanced upon IKAN but what I’m doing is being used for ‘commercial purposes’. :slight_smile:

#4

hmm - if you have access to maya, you might also check out the example 2 bone ik solver in the devkit:

devkit/ik2Bsolver

#5

Is the Maya devkit available generally or only to licensed users (I’m not one)?

Thank you very much,

Robert

#6

The devkit is part of the normal installation and I think is not available in the (publicly available) ple version. -
Hmm, another idea - I’m not too familiar with blender, but I would be surprised if they wouldn’t have some ik going on in their animation engine. It’s open source, so that would probably the next place I’d look.

#7

Hmmm, there’s a few things on this site that might be of use …

http://www.darwin3d.com/gamedev.htm

#8

I’ve got those two sources, but there isn’t much else. No explanation really (except for source comments). The ‘paper’ for this was omitted from the conference and doesn’t seem to be available otherwise.

#9

Ok. Just been looking at this site for cloth coding info, but have found there’s a bit of info on IK if that helps …

http://freespace.virgin.net/hugo.elias/models/m_main.htm

#10

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