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# Bones & Constrains

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I have read an article "Advanced Character Physic" by Thomas Jakobsen. I''d like to use spring based àpproach for IK for characters animation (especially for RagDoll). But for skinning I must to use hierarchy of matrixes as bones. How can I combine them in one framework ?

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that''s one of the major omissions in the paper. Since I haven''t implemented it, I can''t help you for sure, but I''d say, calculate the quaternion/matrix between the orientation of the stick the previous frame, and the orientation of the stick the current frame, and rotate the bone with this quaternion/matrix.

There are functions on the net that takes two vectors as an input and return the transformation matrix.

Basically, cross product the two vectors, that will give you the axis of rotation. Dot product them, and that will give you the cos of angle between the two vectors. Then it''s a RotateAroundAxis(acos(dir1_dot_dir2), dir1.Cross(dir2).UnitVector()) kind of function.

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