Rune wrote:

> "Barron Gillon" wrote:
> > The model is manipulated by telling the joints a
> > rotation (I want the system to be as versatile
> > as possible).  My problem is this: How much and
> > when should the joints flex?
>
> The IK leg file can be used to find the angles if you really need them, but
> I still don't understand what prevents you from using transformations rather
> than rotations. They are equally versatile and walking will be much easier
> when using transformations.

I, too, preferred to set up a system where I kept my original "FK
construction",  used IK to program the position of the joints, then
back-calculated what FK would allow these IK coordinates.  It's more complex to
code this mechanism, but the simple FK construction is inherently pleasing to
me.

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