Wednesday, November 08, 2017

Trying Caliko FABRIK Inverse Kinematics in 2D

I downloaded Caliko, the FABRIK inverse kinematic solver in Java.  It has great documentation, along with guidance about how to properly use its jars as libraries in Eclipse (I don't do much Java, glad they mentioned that).  The Javadocs for Caliko is excellent, so I took one of their examples, removed the visualization and added information about the location of bones in the chain and the angles between them:

Here is an example solution output:

Because I don't have a good OpenGL working right now, I just took the data from the chain and plotted it in Excel.  Here are some examples - the red dot is the target:

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