[ODE] IK character place feet on the ground/dynamic objects

Jon Watte (ODE) hplus-ode at mindcontrol.org
Wed Nov 1 11:45:57 MST 2006

The IK you will be using is run-time IK in the engine. Each rendered 
frame, you cast from the foot into terrain, and run a two-bone IK on the 
hip/knee to place the foot where it should go. Then adjust the ankle by 
the counter-rotation of the knee.


			/ h+

kxxl at poczta.onet.pl wrote:
> Jon Watte (ODE) wrote:
>> 1) Use Inverse Kinematics ("IK") to a point found using a ray cast per 
>> foot.
> I make some test in 3d animation program to see if it will work. I have raycast at start of next step at possition where i will be planted. Get the offset correction, correct end of the step with the offset. Animation look's almost ok, at the middle of step a foot goes into a obstacle. Here I present this:
> http://www.users.pjwstk.edu.pl/~s2562/ray%20feet%20correction.jpg
> It becouse of interpolation between start and end of step, which i can manualy correct, but how to do this by algorytm? Or i just have to live with it?
> Regards,
> KxL
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