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Inverse Kinematics

Inverse Kinematics. GCDD 4113. What is it?. The last child in a chain of bones controls the translation and rotation of parent bones. Move your hand towards your chest. How many bones moved? Start by removing any limits on rotation. Note: this chapter took me 2 hours!.

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Inverse Kinematics

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  1. Inverse Kinematics GCDD 4113

  2. What is it? • The last child in a chain of bones controls the translation and rotation of parent bones. • Move your hand towards your chest. How many bones moved? • Start by removing any limits on rotation Note: this chapter took me 2 hours!

  3. To add a Single Chain IK Handle • Skeleton->IK Handle Tool->□ • Change Current Solver to ikSCsolver(if not already selected) • Once you have one, try translating and rotatingthe handle… not the bone

  4. Rotate Plane IK • Skeleton->IK Handle Tool->□ • Change Current Solver to ikRPsolver(if not already selected) • Turn on “sticky” option Pole manipulator Twist disk

  5. Reverse Foot • IDEA: Create a new foot structure and bind it to the existing foot joints • Create new “heel” joint • Create new joints that follow the foot in reverse order

  6. Constraining • Point constraining • Forces ankle control to follow the position of the ankle joint (IK) handle • Select ankle control, shift-select IK handle • Constrain->Point • Orient Constraining • Forces the toe to follow the rotation of an object • Do this from toeControl totoe joint (lToes), not lToesEnd • Do this from ballControl to lAnkle joint

  7. Rotating the Ball Control

  8. Heel-Toe Motion • Use Set Driven Keys • Start with a circle and deform to the shape of a foot • Modify->Freeze Transformations • Parent the heel control to the footprint

  9. Add a new Attribute to the Footprint • Modify->Add Attribute…

  10. Set the Driven Key • IDEA: The foot manipulator’s roll value will mapto rotations in the foot control • Always set the driver values before setting the driven • Animate->Set Driven Key->Set • When you duplicate, use Duplicate Special and copythe input graph

  11. Now you can use the Manipulators!

  12. Hands • Delete the old Single plane IKs and add new planar ones • Create another NURBs circle and then Constrain->Parent on the IK • Constrain->OrientlHandManip to lWrist

  13. Pole Vector Constraint • Idea: Have something that’s easy to get to! Used to control plane of rotation • Create->Locator and then Constrain->Pole Vector on lArmIk handle

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