Thank you, the algorithm I used here is the same as what was used in this post: 2 Joint 2 Limb Inverse Kinematics
3 Likes
Thank you, I do remember coming across this post some time ago and I was never able to resurface it for some reason! I’ve been using this module to implement a climbing system, which is coming along pretty nicely.
20 Likes
is there a way to disable rotation on the Z axis?
currently working on procedural walk animations and it looks really weird on the legs
2 Likes
Pretty good.
me likey
good job
1 Like
This is a really good and useful module.
Quick question though: There is a dynamicsound module in the github alongside the R6IK folder. Is that also for open-source?
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Yep it is! all things that I open sourced for Roblox related projects are placed in the repository!
P.S. if you’re interested in the dynamic sound module here is a post about it
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i have an r6 startercharacter and i inserted this script inside it, it isnt working. can you help me?
Did you only insert it without requiring it and using it like a module? I’m not sure what’s the problem here
When i use it the player’s arm starts flying off into the sunset.
Code:
–Some Localscript
local Remote = game:GetService(‘ReplicatedStorage’).Remotes.Grapple
local Plr = game.Players.LocalPlayer
local Mouse = Plr:GetMouse()
local uis = game:GetService(‘UserInputService’)
while task.wait() do
if uis:IsKeyDown(Enum.KeyCode.Q) then
Remote:FireServer(Mouse.hit.Position)
end
end
–Some ServerScript
local Remote = game:GetService(‘ReplicatedStorage’).Remotes.Grapple
local R6IK = require(game:GetService(‘ReplicatedStorage’).Modules.R6IK)
Remote.OnServerEvent:Connect(function(Plr, MouseHit : Vector3)
if Plr.Character then
local IK = R6IK.New(Plr.Character)
IK:ArmIK(‘Left’, MouseHit)
end
end)
1 Like
It flies off into the sunset once you press E. It works for the legs but not the arms
I see the problem here, I should have stated this before but you must use the .New function Once and not every time you want to do IK.
So to fix your code, here is the solution that I found. (Server script)
local Remote = game:GetService("ReplicatedStorage").Remotes.Grapple
local Players = game:GetService("Players")
local R6IK = require(game:GetService("ReplicatedStorage").Modules.R6IK)
local PlayerInfo = {}
Players.PlayerAdded:Connect(function(Player)
Player.CharacterAdded:Connect(function()
PlayerInfo[Player] = {IK = R6IK.New(Player.Character)}
end)
end)
Remote.OnServerEvent:Connect(function(Plr, MouseHit : Vector3)
if Plr.Character then
local IK = PlayerInfo[Plr].IK
IK:ArmIK("Left", MouseHit)
end
end)
1 Like
Can you give a sample of using this for footplanting pls
I can’t figure out a way for ik to be compatible with my walking animations
That is up to you to implement, I haven’t done any footplanting code which includes this module yet. I might do it in the future but im not sure
1 Like
I keep getting a buffing error while opening the game, are you able to link a model?
Im kinda stuck with resetting the arm back to normal, how do i do that?
Very good module, currently using it on some of my projects.
Pretty good module, I hate r15 tbh but it was my only option to use ikcontrols since roblox but it was really buggy and pretty bad looking, tried for 2 days straight to solve it but the only option was changing to R6IK
I expected it to be pretty limited but it surprised me how well it worked!
Might need to put some way to stop the ikcontrol instead of just destroying it like I did
1 Like
Hey, Can u reply with the source, because I can’t get it from the link.
i also hate r15
found another module
i really want the roblox’s ik control to work for r6 without bugging
2 Likes
local function SolveArmIK(originCFF, targetPos, l1, l2, C1Off, Side : "Left" | "Right")
-- build intial values for solving
local originCF
if Side == "Left" then
originCF = originCFF*CFrame.new(0,0,C1Off.X)
elseif Side == "Right" then
originCF = originCFF*CFrame.new(0,0,-C1Off.X)
end
local localized = originCF:pointToObjectSpace(targetPos)
local localizedUnit = localized.unit
local l3 = localized.magnitude
-- build a "rolled" planeCF for a more natural arm look
local axis = Vector3.new(0, 0, -1):Cross(localizedUnit)
local angle = math.acos(-localizedUnit.Z)
local planeCF = originCF * CFrame.fromAxisAngle(axis, angle)
-- case: point is to close, unreachable
-- return: push back planeCF so the "hand" still reaches, angles fully compressed
if l3 < math.max(l2, l1) - math.min(l2, l1) then
return planeCF * CFrame.new(0, 0, math.max(l2, l1) - math.min(l2, l1) - l3), -math.pi/2, math.pi
-- case: point is to far, unreachable
-- return: for forward planeCF so the "hand" still reaches, angles fully extended
elseif l3 > l1 + l2 then
return planeCF, math.pi/2, 0, l3
-- case: point is reachable
-- return: planeCF is fine, solve the angles of the triangle
else
local a1 = -math.acos((-(l2 * l2) + (l1 * l1) + (l3 * l3)) / (2 * l1 * l3))
local a2 = math.acos(((l2 * l2) - (l1 * l1) + (l3 * l3)) / (2 * l2 * l3))
return planeCF, a1 + math.pi/2, a2 - a1
end
end
local function SolveLegIK(originCFF, targetPos, l1, l2, C1Off)
-- build intial values for solving
local originCF = originCFF*CFrame.new(-C1Off.X,0,0)
local localized = originCF:pointToObjectSpace(targetPos)
local localizedUnit = localized.unit
local l3 = localized.magnitude
-- build a "rolled" planeCF for a more natural arm look
local axis = Vector3.new(0, 0, -1):Cross(-localizedUnit)
local angle = math.acos(-localizedUnit.Z)
local planeCF = originCF * CFrame.fromAxisAngle(axis, angle):Inverse()
-- case: point is to close, unreachable
-- return: push back planeCF so the "hand" still reaches, angles fully compressed
if l3 < math.max(l2, l1) - math.min(l2, l1) then
return planeCF * CFrame.new(0, 0, math.max(l2, l1) - math.min(l2, l1) - l3), -math.pi/2, math.pi
-- case: point is to far, unreachable
-- return: for forward planeCF so the "hand" still reaches, angles fully extended
elseif l3 > l1 + l2 then
return planeCF, math.pi/2, 0, l3
-- case: point is reachable
-- return: planeCF is fine, solve the angles of the triangle
else
local a1 = -math.acos((-(l2 * l2) + (l1 * l1) + (l3 * l3)) / (2 * l1 * l3))
local a2 = math.acos(((l2 * l2) - (l1 * l1) + (l3 * l3)) / (2 * l2 * l3))
return planeCF, math.pi/2-a1, -(a2 - a1)
end
end
local function WorldCFrameToC0ObjectSpace(motor6DJoint,worldCFrame)
local part1CF = motor6DJoint.Part1.CFrame
local part0 = motor6DJoint.Part0
local c1Store = motor6DJoint.C1
local c0Store = motor6DJoint.C0
local relativeToPart0 = part0.CFrame:inverse() * worldCFrame * c1Store
local goalC0CFrame = relativeToPart0
return goalC0CFrame
end
local R6IK = {}
R6IK.__index = R6IK
function R6IK.New(Character)
local self = {}
self.Torso = Character.Torso
self.HumanoidRootPart = Character.HumanoidRootPart
self.LeftArm = Character["Left Arm"]
self.RightArm = Character["Right Arm"]
self.LeftLeg = Character["Left Leg"]
self.RightLeg = Character["Right Leg"]
self.Motor6Ds = {
["Left Shoulder"] = self.Torso["Left Shoulder"],
["Right Shoulder"] = self.Torso["Right Shoulder"],
["Left Hip"] = self.Torso["Left Hip"],
["Right Hip"] = self.Torso["Right Hip"],
["RootJoint"] = self.HumanoidRootPart["RootJoint"]
}
self.C0s = {
["Left Shoulder"] = self.Motor6Ds["Left Shoulder"].C0,
["Right Shoulder"] = self.Motor6Ds["Right Shoulder"].C0,
["Left Hip"] = self.Motor6Ds["Left Hip"].C0,
["Right Hip"] = self.Motor6Ds["Right Hip"].C0,
["RootJoint"] = self.Motor6Ds["RootJoint"].C0
}
self.C1s = {
["Left Shoulder"] = self.Motor6Ds["Left Shoulder"].C1,
["Right Shoulder"] = self.Motor6Ds["Right Shoulder"].C1,
["Left Hip"] = self.Motor6Ds["Left Hip"].C1,
["Right Hip"] = self.Motor6Ds["Right Hip"].C1,
["RootJoint"] = self.Motor6Ds["RootJoint"].C1
}
self.Part0s = {
["Left Shoulder"] = self.Motor6Ds["Left Shoulder"].Part0,
["Right Shoulder"] = self.Motor6Ds["Right Shoulder"].Part0,
["Left Hip"] = self.Motor6Ds["Left Hip"].Part0,
["Right Hip"] = self.Motor6Ds["Right Hip"].Part0,
["RootJoint"] = self.Motor6Ds["RootJoint"].Part0
}
self.Part1s = {
["Left Shoulder"] = self.Motor6Ds["Left Shoulder"].Part1,
["Right Shoulder"] = self.Motor6Ds["Right Shoulder"].Part1,
["Left Hip"] = self.Motor6Ds["Left Hip"].Part1,
["Right Hip"] = self.Motor6Ds["Right Hip"].Part1,
["RootJoint"] = self.Motor6Ds["RootJoint"].Part1
}
self.LeftUpperArmLength = 1
self.LeftLowerArmLength = 1
self.RightUpperArmLength = 1
self.RightLowerArmLength = 1
self.LeftUpperLegLength = 1
self.LeftLowerLegLength = 1
self.RightUpperLegLength = 1
self.RightLowerLegLength = 1
self.TorsoIK = false
return setmetatable(self, R6IK)
end
function R6IK:ArmIK(Side : "Left" | "Right", Position:Vector3)
if Side == "Left" then
local OriginCF = self.Torso.CFrame*self.C0s["Left Shoulder"]
local C1Off = self.C1s["Left Shoulder"]
local PlaneCF,ShoulderAngle,ElbowAngle, l3 = SolveArmIK(OriginCF, Position, self.LeftUpperArmLength, self.LeftLowerArmLength, C1Off, Side)
local ShoulderAngleCFrame, ElbowAngleCFrame = CFrame.Angles(ShoulderAngle, 0, 0), CFrame.Angles(ElbowAngle, 0, 0)
local ShoulderCF = PlaneCF * ShoulderAngleCFrame*CFrame.new(0,-self.LeftUpperArmLength * 0.5,0)
local ElbowCF = ShoulderCF*CFrame.new(0,-self.LeftUpperArmLength * 0.5,0)* ElbowAngleCFrame * CFrame.new(0, -self.LeftLowerArmLength*0.5, 0)*CFrame.new(0,(self.LeftArm.Size.Y-self.LeftLowerArmLength)*0.5,0)
self.Motor6Ds["Left Shoulder"].C0 = WorldCFrameToC0ObjectSpace(self.Motor6Ds["Left Shoulder"], ElbowCF)
elseif Side == "Right" then
local OriginCF = self.Torso.CFrame*self.C0s["Right Shoulder"]
local C1Off = self.C1s["Right Shoulder"]
local PlaneCF,ShoulderAngle,ElbowAngle, l3 = SolveArmIK(OriginCF, Position, self.RightUpperArmLength, self.RightLowerArmLength, C1Off, Side)
local ShoulderAngleCFrame, ElbowAngleCFrame = CFrame.Angles(ShoulderAngle, 0, 0), CFrame.Angles(ElbowAngle, 0, 0)
local ShoulderCF = PlaneCF * ShoulderAngleCFrame*CFrame.new(0,-self.RightUpperArmLength * 0.5,0)
local ElbowCF = ShoulderCF*CFrame.new(0,-self.RightUpperArmLength * 0.5,0)* ElbowAngleCFrame * CFrame.new(0, -self.RightLowerArmLength*0.5, 0)*CFrame.new(0,(self.RightArm.Size.Y-self.RightLowerArmLength)*0.5,0)
self.Motor6Ds["Right Shoulder"].C0 = WorldCFrameToC0ObjectSpace(self.Motor6Ds["Right Shoulder"], ElbowCF)
end
end
function R6IK:LegIK(Side : "Left" | "Right", Position:Vector3)
if Side == "Left" then
local OriginCF = self.Torso.CFrame*self.C0s["Left Hip"]
local C1Off = self.C1s["Left Hip"]
local PlaneCF,ShoulderAngle,ElbowAngle, l3 = SolveLegIK(OriginCF*CFrame.Angles(0, math.pi/2, 0), Position, self.LeftUpperLegLength, self.LeftLowerLegLength, C1Off)
local HipAngleCFrame, KneeAngleCFrame = CFrame.Angles(ShoulderAngle, 0, 0), CFrame.Angles(ElbowAngle, 0, 0)
local HipCF = PlaneCF * HipAngleCFrame*CFrame.new(0,-self.LeftUpperLegLength * 0.5,0)
local KneeCF = HipCF*CFrame.new(0,-self.LeftUpperLegLength * 0.5,0)* KneeAngleCFrame * CFrame.new(0, -self.LeftLowerLegLength*0.5, 0)*CFrame.new(0,(self.LeftLeg.Size.Y-self.LeftLowerLegLength)*0.5,0)
self.Motor6Ds["Left Hip"].C0 = WorldCFrameToC0ObjectSpace(self.Motor6Ds["Left Hip"], KneeCF)
elseif Side == "Right" then
local OriginCF = self.Torso.CFrame*self.C0s["Right Hip"]
local C1Off = self.C1s["Right Hip"]
local PlaneCF,ShoulderAngle,ElbowAngle, l3 = SolveLegIK(OriginCF*CFrame.Angles(0, -math.pi/2, 0), Position, self.RightUpperLegLength, self.RightLowerLegLength, C1Off)
local HipAngleCFrame, KneeAngleCFrame = CFrame.Angles(ShoulderAngle, 0, 0), CFrame.Angles(ElbowAngle, 0, 0)
local HipCF = PlaneCF * HipAngleCFrame*CFrame.new(0,-self.RightUpperLegLength * 0.5,0)
local KneeCF = HipCF*CFrame.new(0,-self.RightUpperLegLength * 0.5,0)* KneeAngleCFrame * CFrame.new(0, -self.RightLowerLegLength*0.5, 0)*CFrame.new(0,(self.RightLeg.Size.Y-self.RightLowerLegLength)*0.5,0)
self.Motor6Ds["Right Hip"].C0 = WorldCFrameToC0ObjectSpace(self.Motor6Ds["Right Hip"], KneeCF)
end
end
return R6IK
1 Like