koobas.hobune.stream
Theory of three joint IK in locomotion system
Where can I find the derivation of three joint IK implemented in locomotion system. In the following portion, I find it difficult to decipher the math:
float aa = (LB*LB+fThigh*fThigh-fShin*fShin)/2/LB;
float bb = Mathf.Sqrt(fThigh*fThigh-aa*aa);
Vector3 vF = Vector3.Cross(vB,Vector3.Cross(vKneeDir,vB));
return pHip+(aa*vB.normalized)+(bb*vF.normalized);
I would be most thankful if the authors of Locomotion system or some other experts could site reference resources. What I am trying to do is to modify the scripts for adding a custom functionality. But understanding the locomotion framework and ik scripts itself is heavy work. I am good at maths, but with out a figure, pdf, and some equations, tracking from source code to maths is not easy for me. See for example : http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0100-73861999000300003
