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Full Body Inverse Kinematics


Squashwell and Norbo are working on a prototype for 'full body inverse kinematics'.

Norbo writes:

Hey everyone! I'm Norbo from BEPUphysics. We're working on a game, but my fellow developer Squashwell wished for some new animation tools. Instead of throwing thousands of dollars and many hours at another program, we decided to create full body inverse kinematics for Blender.

Here's the core system prototype I created working in the BEPUphysics demos.

It supports a variety of linear and angular joint types and multiple joint limits, joint pinning, and single-bone controls (pick and drag a point on a bone or pull the whole thing without rotating it).

Technically, this solver is closer to a dynamics simulation than a pure inverse kinematics solver. I borrowed the core logic from the BEPUphysics constraint solver and added some dependency analysis to make things a bit more automatically stable.

All the code behind the above video is already open source on codeplex, but it's all Apache 2.0-licensed C#.

The next step is to start the actual integration with Blender. To start with, it will likely be a C++ port of BEPUik glued to Blender with a Python addon.



    • The spine would function just as you would expect. It would use multiple bones connected by a variety of constraints.

      The fat cylinder-people are hand-coded test puppets; characters with much more detail are possible.

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