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:
Rotating the bones:
Draging the sceleton:
Saving and loading:
Inverse kinematics, draging leaf joint with the mouse:
