IK Solver

When I completed this project as a student, I solved full Inverse Kinematics using c3d file-format mocap data, with a variable time step and individual marker weighting implementation, that would facilitate favoring updating certain joints over others in order to, for instance minimize energy. I used the code for this project in my Kinect library, modified somewhat to handle the peculiarities of the Kinect skeleton.

When I TA'ed the class we simplified the project somewhat, and had the students click on a handle (or set of handles) on the skeleton rig and drag the mouse to provide the motion to IK to.

Run to Jump clip - I pause the simulation to show the positional refinement. The solver does the best it can without impacting the frame rate while playing, and continues to improve once playback stops.

Run to Walk clip