4 ms·
This is a terrible way to do IK. It is numerically unstable and will give vastly different solutions upon slight changes to the input. Coordinated Cyclic Descen
by RayDonnelly 9y ago
This is a terrible way to do IK. It is numerically unstable and will give vastly different solutions upon slight changes to the input. Coordinated Cyclic Descent using twist and swing quaternions give much better results:
http://www.tandfonline.com/doi/abs/10.1080/2165347X.2013.823362?src=recsys&journalCode=ujgt21 http://www.tandfonline.com/doi/abs/10.1080/2165347X.2013.823...
- beluis3d 9y agoCCD is good. FABRIK is even easier to implement, as is super stable: https://medium.com/unity3danimation/create-your-own-ik-in-unity3d-989debd86770 https://medium.com/unity3danimation/create-your-own-ik-in-un...