Notes about computation of inverse kinematics[1]

Solving-ik-001.png

At this moment, the research is focusing on solving a 2 bones system, the leg in this case, but it would be applicable on the arms or any other part of a skeleton having at least 2 parents.

The main issue seems to be the computation of the knee position. All distances are easily computed:

  • upper leg (red) keeps its length
  • leg (yellow) keeps its length also
  • distance between the target and the origin of the upper leg can be easily computed in world space.

References

  1. Inverse kinematics sur wikipedia

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