[Bf-committers] blender2.5's new IK

Nathan Vegdahl cessen at cessen.com
Mon Sep 21 03:25:59 CEST 2009

Hi Benoit,
   This is looking really good to me.  The options are a bit
overwhelming and confusing at the moment, especially for someone like
me who doesn't know the inner workings of the algorithm.  But I think
that is something that can be taken care of down the road (i.e.
figuring out what is useful to expose to the user, and what is really
just clutter from their viewpoint, and where to put the options that
are exposed, etc.).

   By the way, it wasn't clear to me, but I assume that unchecking the
"simulation" option is what you meant when you said you added an
"animation mode"?

   Anyway, the solver works really well from the testing that I've done.

--Nathan V

On Thu, Sep 17, 2009 at 8:44 AM, Benoit Bolsee <benoit.bolsee at online.be> wrote:
> Hi,
> Since the last Emails on this subject I added a couple of features that
> should be useful to animators.
> First I implemented an 'animation' mode where the solver operates like
> the old one: the solver is stateless and uses the pose from Fcurves
> interpolation as the start pose before the IK convergence. Still the new
> solver is significantly faster (4x) and provides features that are
> inherant to iTaSC: multiple targets per bone and multiple types of
> constraints (currently only CopyPose and Distance).
> The second feature is a joint rotation constraint that allows to control
> the bone rotation while the IK solver is tracking the targets. If both
> cannot be achieved at the same time, the solver will do a balance
> between the constraints based on their relative weights. Many
> applications can be derived from this concept:
> - manual tuning of IK pose by rotating bones in the UI
> - give preferred direction for certain bones (relative to parent bone)
> - automatic deviation from precorded actions based on a cartesian
> constraint (e.g. avoid an obstacle)
> - smoothing of a precorded action based on robot dynamics (e.g. max
> velocity)
> - control the joint angle by python
> A test build with documentation is available on Graphicall if you want
> to give it a try.
> /benoit
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