On 12-04-20 02:59 AM, robotguy wrote:
> Tail Kinker<the### [at] gmailcom> wrote:
> I just had a brief look at your work. You might be interested in a couple other
> Alive! at http://www.imagicproductions.com/
Thanks! I'll check them out.
> I wrote bones.inc (posted the link here in May 2010:
> ), and I think we've both got different aspects of this problem solved from
> different angles; your work and my work might fit together very well. For
> instance the base of the torso in a skeleton in bones.inc is called the Zero
> bone and the positions of the hands and feet (really the wrists and heels) can
> be looked up with simple bones.inc macro calls:
> baseOfTorso = getSkeletonPosition (SkelName)
> rightHand = getBoneStart(IndirectBoneLabel("RArm_Hand_Wrist"))
> leftHand = GBS(IBL("LArm_Hand_Wrist"))
> rightFoot = GBS(IBL("RLeg_Foot"))
> leftFoot = GBS(IBL("LLeg_Foot"))
I take it that bones.inc is forward kinesic?
> Using my skeleton data structures, much of the work you have done here could be
> overlaid on top of my base, with the positions of the hands, feet, and lower
> torso (or center of mass) driving macros (later to be attached as a string
> object to the Zero bone) that determine the rest of the joint angles, thus
> generating Poses automatically. If you check out bones.inc, look at section 4.6
> and 3.2 of the readme file and the way I generated joint angles in the Canfield
> joint demo with the CanfieldCalc() macro. Animation of skeletons in bones.inc
> is accomplished by interpolating between poses.
> I've been looking for some sort of IK solution for bones.inc to generate poses,
> and I think you've got it. Have a look at the readme file in bones.zip and tell
> me what you think. The BipedRobot file will give you a good bones.inc bipedal
> skeleton to work with if you want to try messing around with adding your IK work
> to my Poses and interpolations.
I'll do that, when I get a few free moments. :)
> I'm thinking about ways to incorporate a converter program between blobman and
> bones.inc, so existing blobman characters can be overlaid on bones.inc
> skeletons, have poses generated by your IK functions attached to Zero bones, and
> then animated via the InterpolatePose() macro in bones.inc. That way existing
> blobman work can be re-used and much more easily animated.
Blobman parts could be separated out and attached to my ik_skeleton
fairly easily - I actually wrote ik_skeleton with that in mind.
Unfortunately, I haven't got it working yet, as the blobman parts are
oriented differently than ik_skeleton wants.
> Several skeletons can be animated at once with bones.inc, and they don't need to
> be bipedal - could be dragons or spiders or snakes. Your IK stuff could be
> applied to these types of skeletons as well. This could be very useful for lots
> of people.
I'll compare the two and think about what can be done. I need to do
some re-work on ik_skeleton again, anyway, due to issues with some of
the joints. Especially, I want to be able to solve three segments per
limb, instead of only two, possibly with an adjustable bias between
joints, so that digitigrade skeletons can be built. I also want some
ready-made macros for walking, running, jumping, etc., with
interpolation between movement styles. (That's getting into hurty math,
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