I’m writing some code to acquire poses from custom DIY mocap system.

The issue is that the acquired positions and angles of each joint/bone are not too accurate, which means the generated bones and character joints will not have the correct length if there is a hierarchy in the skeleton which of course there is. So I think the child bones somehow should be constrained by the already posed parent bones.

I’m wondering how this “averaged” and constrained child bone position and rotation value can be calculated by having the already applied position and rotation value of the parent bone and the unprocessed, raw position and rotation value of the child bone.

My understanding is that if a bone with fixed size is attached to a parent bone, there is a fixed sphere of possible positions for it, so the closest point on that sphere surface to the acquired raw position should be determined? Is this what should be done?

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    – DMGregory
    Jul 9 at 13:37

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