Inverse Kinematics Implementation (C/C++)
March 18th, 2010
  • I'm looking for some robust C/C++ source code for finding an inverse kinematics solution based on an arbitrary skeleton, with results for each bone in Euler angles (roll, pitch, yaw). By "robust," I mean that I'm not looking for a trivial iterative solution such as is found here: http://www.darwin3d.com/gdm1998.htm . I'm looking for a solution that returns an "optimal" solution, and takes into account various joint parameters, such as angle limits, resistance to bending, etc.. I.e., I'm looking for an implementation that would useful for real-world animation. (Note: This if for a non-commercial purpose, so GNU-licensed code is acceptable...as long as it's "robust.")


  • Hello Brementown, The "Game Developer Magazine" print publication includes C++ code samples within tutorials. See the following back issue: The Inner Product by Jonathan Blow Inverse Kinematics with Joint Limits http://www.gdmag.com/backissue2002.htm#apr02







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