Hello .

I have skeletal animation in my engine right now and it's working good,however, it's not enough . I would like to add IK to my characters so that I can let's say control their right hand position after animation update . I don't know how IK is done . Can you please give me instructions or give me a refrence to read further about this ?

Thanks in advance

Inverse Kinematics are a procedural animation. For that you need explicit defintion of a skin mesh (weights and bones). And if you set a certain bone to an explicit transformation, it is supposed to affect all parenting bones to the very root of subtree.

This is rather not any trivial topic, and- it is even rarely implemented or needed actualy, so no straight links for you to see.

But, what I can tell you is that- if you set a right hand bone to be position at a point, you will need to

- compute final skeleton from manner of influence towards ancestry

- blend from current one to final one

you may compute the final one in MANY MANY manners, such as, root of most influenced ancestor volatiles, but other roots dont and so on.

IK is a wide bunch of stuff and you may need only 5 percents of it.

Describe what you wish to achieve rather

I wish that I can let's say set the position of right hand then the shoulder and elbow fix their rotation so that the right hand position would be correct. Also I need to correct the foot position in order that the foot will all ways be on floor or ground when moving on a stair or a slope. I just wish to know how can I get correct rotation for corresponding bones and apply that to them.

I wish simple things Let's say : preventing the foot of the character go below the ground. I would like to set the position of the foot and the thigh and knee adjust their rotation so that the foot would reach the set position. Or for the hand the exact same thing , I set the position of the hand and shoulder and elbow adjust their rotation.

I wish to know how can I get the correct rotation and further apply them to bones ?

you cannot set a position of foot freely, as it would severe if very center of skeleton cannot be moved.

What you want to achieve is a physicaly jointed structure.

It would serve your purpose totaly. You can restrict joints angles of freedom and so on, If you can grab some physical engine library, I would recommend you that direction.

Thanks . I don't need complex IK. I want to use it as a post process after the animations are played so that let's say a character can hold his hand to the wall . I get the wall position by raycating and setting the hand's positon. This is all I am looking for.