Hacker News Reader

Comment by dyarosla | Hacker News Reader

I mean.. it describes that Inverse Kinematics is and is used for, but literally none of the math that makes it work. More than a little disappointed.

View on HN

Hey, thanks for reading. There are a TON of ways to implement Inverse Kinematics, and I'm going to cover the most popular ones in coming articles. Do you have any preferred animation techniques you'd like me to cover? All of my articles will be available here: https://medium.com/unity3danimation

I'll make a plug for software I wrote based on sequential quadratic programming. It performs significantly better than inverse Jacobian methods in the presence of high-dof and joint limits. Here's a link to the software and paper: https://bitbucket.org/traclabs/trac_ik

Very interesting.

What is the best IK algorithm to implement in JavaScript given that it has to be small enough to download but also robust and fast and probably something one can implement without spending too much time on it? Probably an impossible question... but I figured I'd ask in the hopes there was something easy and obvious here.

FABRIK: https://medium.com/unity3danimation/create-your-own-ik-in-un...

Inverse Jacobian Methods can be computationally expensive. I suggest using FABRIK methods (suggested for JavaScript). Algorithm and pseudo-code here: https://medium.com/unity3danimation/create-your-own-ik-in-un...

Yup, I felt the same. As someone who worked with FK and IK in robotics I was hoping for an overview of analytical and numerical methods, but I found only an explanation of joints and what are FK and IK.

It does say it's an introductory article. Perhaps there are future parts coming later?

Reply on news.ycombinator.com