https://github.com/microo8/ca-project

C03 - Inverse Kinematics
https://github.com/microo8/ca-project

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C03 - Inverse Kinematics

• Host: GitHub
• URL: https://github.com/microo8/ca-project
• Owner: microo8
• Created: 2012-09-24T09:45:24.000Z (over 12 years ago)
• Default Branch: master
• Last Pushed: 2013-01-31T09:43:07.000Z (almost 12 years ago)
• Last Synced: 2023-03-24T10:51:25.898Z (almost 2 years ago)
• Language: Python
• Homepage:
• Size: 285 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.rst

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README

        
==========

CA project

==========

*autor:* Bc. Vladimir Magyar

Project theme C03 - Inverse Kinematics:

---------------------------------------

- Scene: 2d line-segment skeleton of figure (min 15 bones)

- Implement 2d skeleton creation

        - User can create new bone by selecting parent bone (click on it) and clicking anywhere to define end of bone

        - Bones can have more child bones

        - Each bone has its position, rotation angle and length (end point can be calculated)

        - User can select starting and ending bone of the IK sequence

- Implement forward kinematics

        - Select bone by clicking, change rotation angle by dragging

        - Child bones must be transformed correctly (can use transformation 3x3 matrices - they handle both rotation and translation)

- Implement inverse kinematics (relaxation by gradient calculation)

        - User can move end bone - IK solves bones in the IK sequence

Implementation

--------------

:programing language: `python 3.2 `_

:graphical user interface: `GTK3 `_

:mathematical library: `numpy `_

Progress

--------

- Scene with sceleton: 

        - user can create new bones by clicking on a joint and than right click to a diredtion

        - user can drag the sceleton by clicking on a joint and then draging it

- Forward kinematics:

        - user can rotate the bones by selecting a joint and than draging a child joint, all descendants rotate with it

- Inverse kinematics:

        - user can drag leaf joint and the arm (from root to the leaf) will follow the mouse cursor (while mouse button is down)

- Saving and loading sceletons

The application:

|screenshot01|

Rotating the bones:

|screenshot02|

Draging the sceleton:

|screenshot03|

Saving and loading:

|screenshot04|

Inverse kinematics, draging leaf joint with the mouse:

|screenshot05|

.. |screenshot01| image:: screenshots/Screenshot01.png

.. |screenshot02| image:: screenshots/Screenshot02.png

.. |screenshot03| image:: screenshots/Screenshot03.png

.. |screenshot04| image:: screenshots/Screenshot04.png

.. |screenshot05| image:: screenshots/Screenshot05.png