[Robotics] IK Armature Chains in GameEngine?

[Benoit Bolsee]

> -----Original Message-----
> From: robotics-bounces at blender.org
> [mailto:robotics-bounces at blender.org] On Behalf Of Florian Lier
> Sent: mercredi 3 juin 2009 14:00
> To: robotics at blender.org
> Subject: Re: [Robotics] IK Armature Chains in GameEngine?
> 
> 
> Hey Benoit,
> 
> First things first, thanks!
> 
> Okay, as far as I understood you can "play" actions in the
> GE... Maybe I wasn't precise enough: What I want is to 
> controll the IK chain "live" in the GE with a keyboard or mouse....
> 
> I have an empty object which is the target for the IK chain,
> when I create 
> a Sensor, Controller, Actuator for moving the empty object in 
> the GE the chain/arm doesn't move at all...
> 

That's correct: the IK solver uses the Blender's object position to
solve the chain, but this position is not changed during the GE session
(GE converts blender object to GE object). That's why you must go
through an action that moves one target bone of the armature itself.
It's possible that you can change the bone position by Python but I
don't know. 
You can do something a bit tricky: create 3 actions that only drive one
coordinate of the target bone: X, Y, Z. Make these actions strictly
linear (1 frame = 1 meter + linear extension) and bind them to
properties in the GE. Now you can control the bone in x,y,z by
activating the 3 actions at the same time (same priority and no
blending) and writing to the 3 properties the coordinates you would like
to put the target. 
I didn't test but I think it can work.

> Is there any tuorial or howTo?
> 
> 
> Cheers, Florian
> 
> ---
> MA
> 
> 
> ----- Original Message -----
> From: benoit.bolsee at online.be
> To: robotics at blender.org
> Date: 03.06.2009 12:13:45
> Subject: Re: [Robotics] IK Armature Chains in GameEngine?
> 
> 
> > Yes, IK solver is fully supported in the game engine, at 
> least if you 
> > take a bone of the same armature as target. Add a floating 
> bone, make 
> > it the target of the IK chain, create Actions to control it 
> and play 
> > the actions in the GE with the Action actuator: the IK solver will 
> > compute the chain in real time in the GE.
> > 
> > Benoit
> > 
> > > -----Original Message-----
> > > From: robotics-bounces at blender.org
> > > [mailto:robotics-bounces at blender.org] On Behalf Of Florian Lier
> > > Sent: mercredi 3 juin 2009 11:37
> > > To: robotics at blender.org
> > > Subject: [Robotics] IK Armature Chains in GameEngine?
> > > 
> > > 
> > > Hello everybody,
> > > 
> > > I've modelled a robot arm including an IK Solver  which works
> > > quite well. The next step would be, moving the robot arm with 
> > > some input device in the GameEngine - my questions is: Is it 
> > > possible to include the IK Chain in the GameEngine?
> > > 
> > > cheers,
> > > 
> > > Florian
> > > 
> > > ---
> > > MA
> > > 
> > > 
> > > 
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> 
> 
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