Download presentation
Presentation is loading. Please wait.
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
Similar presentations
© 2025 SlidePlayer.com Inc.
All rights reserved.