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Inverse Kinematics
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GeekAntic Offline
Member

Post: #1
Inverse Kinematics
The engine is a really kewl piece of work.
You stated that the engine is also able to handle inverse Kinematics. I ve downloaded BM to investigate that feature. I was not able to find another part then that:
Code:
if(inv.slot[SLOT_ARM_L].valid()) // if has item in left hand
      if(OrientP *point=cskel.findPoint("HandL"))
   {
      Vec     current_dir=-point->cross();                                       // this is the current weapon direction in world space
      Matrix3 transform; transform.setRotation(current_dir,desired_dir,b_aim_l); // create matrix which transforms current direction into desired direction
      cskel.transformInWorldSpace(sac.arm_lu,transform);                         // call this method to perform a world space transformation
   }

I wonder if there is a real ik example. I am thinking of bonechains, joint frition, prefered angles and angle restriction.

Have to say it again, great work!
12-10-2009 10:36 PM
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Esenthel Offline
Administrator

Post: #2
RE: Inverse Kinematics
yes, this is it, more tutorials will be avaiable when I'll find the time to add them wink
12-11-2009 12:00 AM
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GeekAntic Offline
Member

Post: #3
RE: Inverse Kinematics
so the ik api are the function of cskel.transformInWorldSpace and bonechain solving is implemented?

I will figure out how it works if you give me enough information about the right starting point.
IK solving is a key feature i need for my current project.
12-11-2009 09:27 AM
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Esenthel Offline
Administrator

Post: #4
RE: Inverse Kinematics
you can achieve bonechain for 2 bones using transformInWorldSpace and some math
12-11-2009 03:52 PM
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GeekAntic Offline
Member

Post: #5
RE: Inverse Kinematics
Hm, so its no real IK. Its more or less FK?
12-11-2009 06:44 PM
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Esenthel Offline
Administrator

Post: #6
RE: Inverse Kinematics
no, FK is done just by animating, with "transformInWorldSpace and some math" you can do IK, for example on 2 bones, like full arm
12-11-2009 07:29 PM
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