Overview

This project involves Inverse Kinematics to move the limbs of a model made in 3D. It adds X and Y rotations and is applied to the model that contains different branchings. The majority of the materials used for the project are from Assignment 4, which is a combination of Lab 6 and 7 and the camera class comes from Assignment 2.

Implementation

Modify the objective function to compute 3D transformations
Add X and Y angle computations to the objective function (similar to finding Z angles in Assignment 4)
Create hierarchy with data
Give each limb a preset end effector that is used for calculations for that corressponding limb
Give each limb its own target to follow

Hierarchy

Demo

Here is the final presentation of this project

Controls

0: Move the full model
1-8: Cycles through limbs
q: Changes rotation to X
w: Changes rotation to Y
e: Changes rotation to Z
r: Reset all limb angles and targets
-: Traverse back a link
=: Traverse forward a link
x/X: Moves target in X direction
y/Y: Moves target in Y direction
z/Z: Moves target in Z direction

Future Improvements

Limit the angles that each limb can turn to make it more realistic
Improve model to give it a better look
Fix end effectors for some of the limbs to follow the target accurately
Move limbs with the mouse
Add more components to the model

Libraries And Resources Used

OpenGL
GLM
GLFW
GLEW
Eigen
Assignment 2 for the Camera class file
Assignment 4 for Inverse Kinematics
Lab 6 for all class files
Lab 7 for Gradient Descent, Newton's Method, and Objective class files

3D IK-8