Quote:Original post by Genjix
I'm trying to implement some form of inverse kinematics, and from what I've read it seems this method is better than the Jacobian variant- I hope I've made the correct choice!
It's often more efficient than the Jacobian variant, particularly for long joint chains. It is less likely to produce realistic motions, particularly for large target displacement.
Quote:Anyway, from what I'm reading it seems that from the root bone I just have to iteratively nudge them 1 degree at a time, minimising the distance to the target at each step. Is that correct?
No. The way CCD works is, you numerically figure out which position is best for that particular joint, keeping all other joints constant.
Here's an example. Suppose my right upper arm is out in front of me and my forearm is pointing straight up (try that out now) and I want to reach out to a point 3 feet in front of me. Let's assume I move my shoulder, then my elbow. So first I'd pivot my shoulder down
while keeping my elbow locked at a 90 degree angle, with the result that my hand would be close to the target point but not touching it. Then I'd move only my elbow, while keeping my shoulder at the position I'd found before. Again I wouldn't quite get there, but I'd put my elbow in the best possible position for that shoulder position. Then I'd only move my shoulder again. And so on, until I hit the target, or at least got close enough.