FBIK_Project

The purpose of this project is

1. Implementation of full-body inverse kinematics (FBIK)
2. Explore general process of how to use analytic and numerical optimization
3. Get familiar with how to calculate Jacobian matrix
4. Get familiar with Unity Engine and C#

1. Requirments

Code is written in C# and uses Unity Engine for framework

This project requires:

• Unity
• 2020.3.33f1
• Library
  • ALGLIB for C# (https://www.alglib.net/download.php#csharp) to use optimization modules

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2. Introduction

Limitation of two-bone inverse kinematics

Consider about the situation of

• Task : stretch hand to reach a red ball
  
• End-effector: Left Hand
  
• Target: Red ball

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Benefits of two-bone inverse kinematics

Ability to transfer control from the top of the hierarchy to the bottom

• Natural poses and animations for characters
  
• Translate + rotate body parts with FBIK end-effectors
  
• Rest of body follow the movements
  

3. Result

4. Presentation PowerPoint

Please request me by email if needed (yrs1107@gmail.com)