Inverse Kinematics Solver

Uni Coursework - Masters

• Tech Stack: C++, OpenGL 2, Qt

This program allows the user to change joint positions and updates the overall posture with inverse kinematics (IK). Different IK schemes are implemented: IK with pseudo-inverse Jacobian, IK with Jacobian transpose, IK with damping, and IK with control. The user can also specify the number of iterations to run for, or define a stopping criteria based on the distanced moved between iterations, or the difference in the target angles. The joint data comes in the form of BVH files. The program can also play the animation defined in the BVH files.