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Written by Ryan Juckett
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Monday, 13 April 2009 00:00 |
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 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.
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Last Updated ( Sunday, 02 May 2010 06:30 )
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Written by Ryan Juckett
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Wednesday, 11 February 2009 04:43 |
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 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.
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Last Updated ( Sunday, 02 May 2010 06:28 )
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Written by Ryan Juckett
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Monday, 29 December 2008 07:46 |
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 Due to their complexity, inverse kinematics (IK) problems are often solved with iterative solutions. While iterative solutions can handle different IK poblems with a single algorithm, they can also become computationally expensive. If a specific IK problem needs to be computed often, it is worth considering an analytic solution.
If we limit the problem to a two bone chain in a two-dimensions, we can derive the anaytic solution without much complexity. This will generally be more efficient than its iterative alternatives. While this specific case lends itself to a 2D world, it can also be used in 3D as long as the kinematic chain's motion is limited to a single plane.
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Last Updated ( Sunday, 02 May 2010 06:32 )
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