https://www.chrishecker.com/index.php?action=history&feed=atom&title=Inverse_Kinematics 2026-04-15T20:43:55Z Revision history for this page on the wiki MediaWiki 1.36.1 https://www.chrishecker.com/index.php?title=Inverse_Kinematics&diff=2059&oldid=prev 2009-01-31T07:18:39Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 07:18, 31 January 2009</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1">Line 1:</td> <td colspan="2" class="diff-lineno">Line 1:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:Rock_climber_140.png|right]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:Rock_climber_140.png|right]]</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>It turns out I have written a lot of Inverse Kinematics algorithms.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>It turns out I have written a lot of Inverse Kinematics <ins style="font-weight: bold; text-decoration: none;">solvers using a lot of different IK </ins>algorithms.</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>I didn't even realize how many different algorithms I've tried for solving IK until I started writing this page.  The list looks something like this:</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>I didn't even realize how many different algorithms I've tried for solving IK until I started writing this page.  The list looks something like this:</div></td></tr> <!-- diff cache key checkerwiki:diff::1.12:old-1921:rev-2059 --> </table>

Checker https://www.chrishecker.com/index.php?title=Inverse_Kinematics&diff=1921&oldid=prev 2007-05-14T23:44:49Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 23:44, 14 May 2007</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l15">Line 15:</td> <td colspan="2" class="diff-lineno">Line 15:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* rigid body dynamics solver</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* rigid body dynamics solver</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** augmented coordinates</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** augmented coordinates</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>*** explicit with Lagrange Multipliers, LCP joint limits</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>*** explicit with <ins style="font-weight: bold; text-decoration: none;">[[How to Simulate a Ponytail|</ins>Lagrange Multipliers<ins style="font-weight: bold; text-decoration: none;">]]</ins>, <ins style="font-weight: bold; text-decoration: none;">[[The Mixed Linear Complementarity Problem|</ins>LCP<ins style="font-weight: bold; text-decoration: none;">]] </ins>joint limits</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*** implicit with stiff springs</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*** implicit with stiff springs</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** generalized coordinates</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** generalized coordinates</div></td></tr> <!-- diff cache key checkerwiki:diff::1.12:old-1902:rev-1921 --> </table>

Checker https://www.chrishecker.com/index.php?title=Inverse_Kinematics&diff=1902&oldid=prev 2007-04-09T09:08:31Z

<p>New page: <a href="/File:Rock_climber_140.png" title="File:Rock climber 140.png">right</a> It turns out I have written a lot of Inverse Kinematics algorithms. I didn&#039;t even realize how many different algorithms I&#039;ve tried for solving IK unti...</p> <p><b>New page</b></p><div>[[Image:Rock_climber_140.png|right]]<br /> It turns out I have written a lot of Inverse Kinematics algorithms.<br /> <br /> I didn't even realize how many different algorithms I've tried for solving IK until I started writing this page. The list looks something like this:<br /> <br /> * simple serial analytical IK<br /> * Cyclic Coordinate Descent (CCD)<br /> ** serial and tree structured<br /> ** with joint limits from the root<br /> ** with child-child joint limits<br /> ** dynamically re-rooted<br /> ** 2 Degree of Freedom (DOF), 3 DOF, and 6 DOF<br /> ** sequential euler angle joint solver<br /> ** numerical quaternion joint solver<br /> * rigid body dynamics solver<br /> ** augmented coordinates<br /> *** explicit with Lagrange Multipliers, LCP joint limits<br /> *** implicit with stiff springs<br /> ** generalized coordinates<br /> *** explicit with springs<br /> *** implicit Featherstone with stiff springs<br /> * particle-based solver (like SHAKE, RATTLE, Jakobsen)<br /> ** dense constraint approach to branching nodes<br /> ** sparse branching with multiple passes<br /> <br /> Yikes! I hope to make each of those a link to a detailed description of the technique and its pros and cons in the future.<br /> <br /> For now, here is my 2002 [[Game Developers Conference]] lecture, titled ''My Adventures in Inverse Kinematics''. It's a description of the CCD-based approach I took for a while on my indie rock climbing game.<br /> <br /> * The [[Media:Gdc2002-ik.ppt|slides]].<br /> * The [[Media:Gdc2002-InverseKinematics.mp3|mp3]].<br /> <br /> [[Category:Math]]<br /> [[Category:Physics]]<br /> [[Category:Lectures]]</div>

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