Summary

In this chapter, we added Inverse Kinematics with the two algorithms, CCD and FABRIK. Both algorithms solve the problem of the so-called effector node reaching a target point in a heuristic manner, by rotating (CCD) or moving (FABRIK) the bones closer to the target.

After a general explanation of what Inverse Kinematics is about, we checked the basic function of the CCD algorithm.

Then, we created a solver class that implemented CCD. The new solver class required changes to the user interface to enable control of parameters, such as the number of iterations for the Inverse Kinematics algorithm, the position of the target, or the part of the skeleton that will be changed by the Inverse Kinematics solver.

Finally, we added the FABRIK algorithm to the solver class and extended the user interface, enabling us to switch the Inverse Kinematics solving between CCD and FABRIK.

In the following chapter, we will increase the number of glTF models on the screen. While we will...