Assignment 3, by William Zhao

Demo

Click the thumbnail to watch the demo.

Assignment Requirements

• Implemented Inverse Kinematics, using adolc to estimate the formula
• Implemented Forward Kinematics,
• Implemented Skinning, which deforms in real time to the bone control points moving.

Extra Credit

• Dynamic ADOLC iterations:

  • The number of iterations of the IK estimation depends on the average handle error.
  • If the expected handle position is far away from the actual handle position, the error rate is high and the number of iteratios increases.

• Tunable Damped IK (Tikhonov Regularization):

  • Implemented adjustable damping parameter for IK solver regularization.
  • Keyboard controls:
    • D: Increase damping (x1.5) - for smoother, more stable motion
    • F: Decrease damping (÷1.5) - for faster, more responsive motion
    • G: Toggle damping value display in console
  • Default damping: 1e-3 (good balance for most scenarios)

• FK Joint Manipulation (Forward Kinematics Direct Control):

  • Allow direct manipulation of joint rotations without IK constraints.
  • Keyboard controls:
    • K: Toggle FK manipulation mode on/off (default: IK mode)
    • =: Select next joint (cycles through all joints)
    • X: Rotate selected joint around X-axis
    • Y: Rotate selected joint around Y-axis
    • Z: Rotate selected joint around Z-axis
  • Mouse control: Drag vertically while in FK mode to rotate the selected joint around the chosen axis

• Recording

  • P to start recording
  • P to stop recording