TGLTLSBFSSP: Inverse Kinematics - Improved Methods
My Inverse Kinematics Article has been one of my most popular, and I still get people asking me more about it. The sad thing is that I always have to explain to them that the article is way out of date. It was one of my first articles, written when I was still working out how to do it. Since then, I've come up with faster, and more robust methods. Lets look at a simple, two jointed, robot arm. I
1998 Game Developer Magazine Companion Source Page
This material is copyright 1998-2009 Darwin 3D, LLC. All rights reserved. The following applications and source code samples are for educational purposes only! Use at your own risk. I spoke about IK at the GDC 1999 . Many people asked me for specifics about using the CCD Inverse Kinematic solution in 3D. I didn't include a demo of the 3D technique because the user interface is pretty complicated.
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IK with Quaternion Joint Limits (from The Inner Product)
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