IKSolver

CCD Algorithm for Solving Inverse Kinematics Problem in C++ with openGL.

Implememented a chain of links, that can be moved and rotated freely with the user's input and can use the CCD algorithm to reach the target.

Project structure:

engine

This is the under-the-hood part that enables rendering meshes.

• mesh.cpp
  • Mesh represention via openGL.
• shader.cpp
  • Shader manager, with the ability to load and bind multiple textures.
• obj_lodaer.cpp
  • .obj File parser.

IKSolver

The actual IKSolver implementation.

• main.cpp
  • Entry point.
• IKSolver.cpp
  • IKSolver manager.
• Cube.cpp
  • Cube represention.
• SceneData.cpp
  • Scene represention.
• InputHandler.cpp
  • User input handler.
• display.cpp
  • glfw Window wrapper.
• Config.cpp
  • Cross project configurations.

Usage:

Esc - Exit the program.

Mouse click

• Set current selected object, link part / target / background.
• Used color picking to calulate the selected object.

Mouse right drag

• Drag the currently selected (chain / target / non selected - scene) under the mouse's position.

Mouse left drag

• Rotations on the currently selected according to draggings. If a link in the chain was selected then rotate it, otherwise rotate the scene.

Mouse scroller

• Zooms in and out of the currently selected (target, chain or scene).

Arrows

• Rotations on the currently selected according to draggings. If a link in the chain was selected then rotate it, otherwise rotate the scene.

Space

• Stop / Start the CCD algorithm for the chain to reach the target. Once a target is reached, it's distance (< threshold) from the target is printed.
• If the target is out of reach then we output "cannot reach".

Future Possible Upgrades

• Solve with other algorithms such as FABRIK and The Jacobian inverse technique.
• Ray picking in addition to the color picking.

Images: