Inverse Kinematics

Complex Multiple Segments Inverse Kinematics

Yesterday I wrote a Simple class to handle simple Kinematics, but I was not very happy with it, I needed to use more segments, so I started looking around. I found this amazing experiment made with JavaScript (Source code) which really inspired me. Looks like the method used in this experiment is pretty valid and I found mentions of it in this two PDF regarding Inverse Kinematics for a Serial Chain with Joints under Distance Constraints and A fast, iterative solver for the Inverse Kinematics problem. The result of my experiments is this: Click on the stage to change to focused point or press any key to toggle the lock on the fixed points. The algorithm check recursively each point from the focus point and back, left and right. It can be pretty much explained with this… [Read more »]

IK Iterative

Simple Inverse Kinematics

I have been looking for a while with interest at how inverse kinematics works, on Wikipedia I found this page regarding the Law of cosines which sounds interesting, although looks overly complicated. Other methods to take in consideration are the Cyclic-Coordinate Descent (CCD) solution and a Jacobian matrix iterative solution. I have been able to determine the exact position of multiple joints using a mix of those, but the resulting algorithm looks ugly at least. So while I am looking to find a cute one enjoy this piece of code to calculate IK on 2 joints.