1. ccdBox Tutorial
(jsfiddle)

2. Overview

3. How to Set up IK? ThreeJS: ccdBox solver:
hierarchy structure parameterized (參數化) by joint angles
For details, see HierarchyHelper.ppt
ccdBox solver:
setarm(), fk (angles, joints), ik_ccd (target, angles)

4. makeLink makeLink: Construct a link (Object3D) and return it y
length x y z
A link whose center axis is local XPOS

5. Hierarchy
In init( )
In render( )

6. CCDBox Related setarm( ) fk (jointAngleArray, jointPositionArray)
Called in init ( )
fk (jointAngleArray, jointPositionArray)
Called in ccdbox solver
update( )
Setup jointAngleArray
call ik_ccd (targetPos, jointAngles);

7. CCDBox-related
Setting joint limits 1

8. joints[0]
joints[1]
joints[2]
Rotate (y, q0)
Translate(60,0,0)
Rotate (y, q1)
Translate (90,0,0) x
Rot (y,q0)
Trans
(60,0,0)
Rot (y,q0)
Trans
(90,0,0) z

9. Update( )

10. (specifying on the hand location)
We have done a keyframed wave
Exercise: 揮揮手
Wave in XY plane!
Try to do a simpler wave
(specifying on the hand location)

11. Human + Right Arm

12. 丟垃圾 (was Softball Pitcher)
丟垃圾 (was Softball Pitcher)
(shoulder) q0 q1
設定release point
計算release velocity
垃圾軌跡為拋物線
(null position: where joint angles are null --- zero)

13. Basketball Dribble
(jsfiddle)

14. Baseball Pitcher https://jsfiddle.net/jmcjc5u/016mt2d9/4/
zz: (-20,100); (-100,100) sweep over some singularity

15. Make this 3-DOF Robot

18. (6dof)
(3dof)

20. 6-DOF Robot