Inverse Kinematics code - February 2013

Project for 15-464 Technical Animation at Carnegie Mellon University, Spring 2013

Implemented inverse kinematics using three different techniques: Cyclic Coordinate Descent (CCD), Jacobian Psuedoinverse, and Jacobian Transpose. The skeleton's right (relative to screen) finger is set to the position of the green sphere. There are no constraints placed on the joints, so unrealistic configurations are possible. The videos below were taken in real-time. Since this is a project that repeats form year to year, source code is available by request.