OpenGL + Inverse Kinematics code

[mmeyer]

Does anyone know where I can find some sample Inverse
Kinematics code using OpenGL (for display)?

3d code for an articulated figure (like a human body) would
be great.

Thanks in advance

Mark

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[Jongwhan Lee]

http://www.darwin3d.com/

There is 2D inverse kinematics code .

"mmeyer" <mmeyerN...@gg.caltech.edu.invalid> wrote in message
news:0cf57002...@usw-ex0109-069.remarq.com...

[Bil Simser]

"Jongwhan Lee" <lee...@hitel.net> wrote in message
news:_sZ15.5$H11...@news.hananet.net...

> http://www.darwin3d.com/
>
> There is 2D inverse kinematics code .

Where? I've been to the site and they have some nice looking products. But
there's nothing to download and they don't seem to have any code. None that
I can find anyway.

-Bil

[Marko Aho]

mmeyer wrote:
>
> Does anyone know where I can find some sample Inverse
> Kinematics code using OpenGL (for display)?
> 3d code for an articulated figure (like a human body) would
> be great.

> Mark

I made my thesis from Ik and used OpenGL in the test bench. Although I think
that these subjects (Ik, hierarchy and OpenGL) are largely independent from
each other. I constructed a numerical engine to solve Ik with Inverse Jacobian
and with a simple recursive solver. The object hierarchy needs OpenGL only for
displaying skeleton links. These are drawn by glaux as my main point was to get
the ik working. Actually it did not even work well in 3D-cases, 2D works just
fine.

You still have to construct the hierarchy (human body) yourself. In this the
Humanoid Animation Group might be a good starting point.

You can find my example project (win32) and C++ source code (portable to unix)
from my homepage:
http://www.kolumbus.fi/marko.aho/english_index.htm

Regards
Marko Aho
marko.aho @ kolumbus.fi

[mmeyer]

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