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Mesh Based Inverse Kinematics

Implementation of method described in the paper "Mesh-Based Inverse Kinematics" by Sumner et al. 2005. This method learns the features of a mesh through example poses and uses these features to generate new meaningful poses that satisfy user inputed position constraints.

Techniques used: mesh processing, linear algebra, optimization

Run 'meshik.py' to see an example.

Work in progress

Todo

  • Refactor/organize/comment code
  • Implement rodrigues exponential map
  • Include different ways of solving (ex. interpolation without constraints)
  • Vectorize nonlinear combination of feature vectors
  • Produce some cool examples
  • Add a nice explanation of the method

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Meaningful mesh posing by moving just a few vertices

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