<html><head><style type="text/css"><!-- DIV {margin:0px;} --></style></head><body><div style="font-family:arial,helvetica,sans-serif;font-size:12pt">it has been awhile since I played with the pose matrix, but if it is as you say, then perhaps you can just subtract the parent's matrix from the child's, to get the net pose differential. <br><div> </div>----------------<br>Sent by Roger Wickes for intended recipient. If you are not the intended recipient, please delete this message and contact Mr. Wickes immediately.<div><br></div><div style="font-family: arial,helvetica,sans-serif; font-size: 12pt;"><br><div style="font-family: times new roman,new york,times,serif; font-size: 12pt;"><font size="2" face="Tahoma"><hr size="1"><b><span style="font-weight: bold;">From:</span></b> Florian Lier <blender@icram.de><br><b><span style="font-weight: bold;">To:</span></b> Blender and Robotics <robotics@blender.org><br><b><span style="font-weight:
bold;">Sent:</span></b> Monday, July 13, 2009 4:03:13 PM<br><b><span style="font-weight: bold;">Subject:</span></b> [Robotics] IK Chain Joints ?<br></font><br>
<font size="-1"><font face="Helvetica, Arial, sans-serif">Hello
everybody,<br>
<br>
I need some help concerning an IK Chain and "hinge" Joints.<br>
I've moddeled a robot arm which has an ik solver at its ik-chain top.<br>
The bones are limited (XYZ) to the appropriate DoF of the joints.<br>
I can get the poseMatrix of each bone, no problem so far...BUT<br>
the poseMatrix of each bone is a summation of its parents and the bone
LOC/ROT/SIZE of itself.<br>
What I need is the angle (Quat/Matrix .. whatever) between one bone of
the chain<br>
and its direct parent (like "real" joints which have one DoF). I
couldn't figure out how to compute<br>
this correlation. Is there any approach?<br>
<br><span>
If you need an impresion of the arm have a look at this:
<a target="_blank" href="http://vimeo.com/5503690">http://vimeo.com/5503690</a></span><br>
<br>
I've also tried the localMatrix...<br>
<br>
THANK YOU...<br>
<br>
Florian<br>
<br>
<br>
<br>
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