4 ms·

I mean.. it describes that Inverse Kinematics is and is used for, but literally none of the math that makes it work. More than a little disappointed.

sbarre 9y ago
It does say it's an introductory article. Perhaps there are future parts coming later?
beluis3d 9y ago
Hey, thanks for reading. There are a TON of ways to implement Inverse Kinematics, and I'm going to cover the most popular ones in coming articles. Do you have any preferred animation techniques you'd like me to cover? All of my articles will be available here: https://medium.com/unity3danimation https://medium.com/unity3danimation
- cbames89 9y ago
  I'll make a plug for software I wrote based on sequential quadratic programming. It performs significantly better than inverse Jacobian methods in the presence of high-dof and joint limits. Here's a link to the software and paper: https://bitbucket.org/traclabs/trac_ik https://bitbucket.org/traclabs/trac_ik
  - bhouston 9y ago
    Very interesting. What is the best IK algorithm to implement in JavaScript given that it has to be small enough to download but also robust and fast and probably something one can implement without spending too much time on it? Probably an impossible question... but I figured I'd ask in the hopes there was something easy and obvious here.
    - beluis3d 9y ago
      FABRIK: https://medium.com/unity3danimation/create-your-own-ik-in-unity3d-989debd86770 https://medium.com/unity3danimation/create-your-own-ik-in-un...
  - beluis3d 9y ago
    Inverse Jacobian Methods can be computationally expensive. I suggest using FABRIK methods (suggested for JavaScript). Algorithm and pseudo-code here: https://medium.com/unity3danimation/create-your-own-ik-in-unity3d-989debd86770 https://medium.com/unity3danimation/create-your-own-ik-in-un...
CapacitorSet 9y ago
Yup, I felt the same. As someone who worked with FK and IK in robotics I was hoping for an overview of analytical and numerical methods, but I found only an explanation of joints and what are FK and IK.

sbarre 9y ago

It does say it's an introductory article. Perhaps there are future parts coming later?

beluis3d 9y ago

Hey, thanks for reading. There are a TON of ways to implement Inverse Kinematics, and I'm going to cover the most popular ones in coming articles. Do you have any preferred animation techniques you'd like me to cover? All of my articles will be available here: https://medium.com/unity3danimation https://medium.com/unity3danimation

cbames89 9y ago
I'll make a plug for software I wrote based on sequential quadratic programming. It performs significantly better than inverse Jacobian methods in the presence of high-dof and joint limits. Here's a link to the software and paper: https://bitbucket.org/traclabs/trac_ik https://bitbucket.org/traclabs/trac_ik
- bhouston 9y ago
  Very interesting. What is the best IK algorithm to implement in JavaScript given that it has to be small enough to download but also robust and fast and probably something one can implement without spending too much time on it? Probably an impossible question... but I figured I'd ask in the hopes there was something easy and obvious here.
  - beluis3d 9y ago
    FABRIK: https://medium.com/unity3danimation/create-your-own-ik-in-unity3d-989debd86770 https://medium.com/unity3danimation/create-your-own-ik-in-un...
- beluis3d 9y ago
  Inverse Jacobian Methods can be computationally expensive. I suggest using FABRIK methods (suggested for JavaScript). Algorithm and pseudo-code here: https://medium.com/unity3danimation/create-your-own-ik-in-unity3d-989debd86770 https://medium.com/unity3danimation/create-your-own-ik-in-un...

CapacitorSet 9y ago

Yup, I felt the same. As someone who worked with FK and IK in robotics I was hoping for an overview of analytical and numerical methods, but I found only an explanation of joints and what are FK and IK.