IK algorithm references



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    On 25/04/2007 at 09:43, xxxxxxxx wrote:

    User Information:
    Cinema 4D Version:   R8.2-R10 
    Platform:   Windows  ; Mac  ;  Mac OSX  ; 
    Language(s) :     C++  ;

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    This isn't particular to Cinema 4D, but I'm wondering if anyone could point out any good, clear references to an IK solver system algorithm. Obviously, it should by CCD (cyclic-coordinate descent) and have good code (not just maths or vague, overview pseudo-code).

    Currently, I have Eberly's "3D Game Engine Architecture" which has a section on IK, the April 2002 Game Developer magazine which has a section on IK with joint limits - both CCD based, and several PDFs from various sources.

    What I want to avoid is getting hung up on various implementation styles. The IK system to be implemented will probably follow Eberly's more closely since he sticks to Euler angles (an unfortunate necessity here) and puts the algorithm together in a class structure that follows closely my general design goals (pun!).

    Just want to have a good collection of resources before getting down to the detailed design and implementation stages.

    Thank you very much,


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