RyanJuckett.com

Inverse kinematics (IK) solvers often become mathematically intensive or computationally expensive with long kinematic chains or when functioning in higher dimensions. I am going to cover an approach to solving IK that is easy to understand, handles any number of joints, and is easy to implement in any dimension. We will walk through a two dimensional example and I'll present sample code to perform the algorithm.

When performing inverse kinematics (IK) on a complicated bone chain, it can become too complex for an analytical solution. Cyclic Coordinate Descent (CCD) is an alternative that is both easy to implement and efficient to process. We will discuss the algorithm works at a high level, followed by a two-dimensional example and sample code.

The RJ_InsertCode project is a TinyMCE 3.x plugin that will automatically style code samples for different languages. Its core architecture is based on the Insertcode plugin for older versions of TinyMCE, but it has been almost fully rewritten for TinyMCE 3. There is a simplified setup, more features, a JCE 1.5 installer, and a commented codebase to assist in learning how it works and tweaking it.

The RJ_Demo_IK project is a C# application to help demonstrate inverse kinematics related algorithms discussed else where on the site. For more information of the implemented algorithms, see the following articles.