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CcdBox Tutorial (jsfiddle).

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Presentation on theme: "CcdBox Tutorial (jsfiddle)."— Presentation transcript:

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

16

17

18 (6dof) (3dof)

19

20 6-DOF Robot


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