Hello there, I’m @dthecoolest and this is my third open-source project which I made to contribute back to the community.
One of the main reason this project is open-source, couldn’t have done it without them:
@JohnathonSelstad - Blogger who posted the tutorial of Psuedo-Code of CCDIK check out the inverse kinematics on his website on GitHub it’s very cool.
Quenty - Maids class for general cleaning
Sleitnick - VectorUtil
Leg does work
The notable feature: being able to handle hinge constraints:
The module script:
Github repository with the place file go check it out:
What is it?
After being disappointed with FABRIK for being unable to handle hinge constraints and the lack of easy documentation to implement constraints other than EgoMooses google doc method I searched online for a new method and I found @JohnathonSelstad blog post on it which explicitly says that this new algorithm works for hinges and the blog post is amazingly well made so yeah I had to try it out.
How does it work?
Otherwise, this image should illustrate the rotation happening with each joint which rotates from the direction towards the end effector towards the goal position.
How do I use it?
Documentation and tutorial is now available!:
The project is MIT licensed feel free to fork and make edits to it. The model provided in GitHub is usable but well extremely resembles a mech in another video game so for maximum safety use your own rigs to avoid copyright.
Future of the project