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Given that the arm exists in a 2D plane, the joints are hinge joints and not ball and socket joints, and the rotation arc for each joint is +/- maxangle: Let H = the position of the end effector. Let S = the position of the "shoulder" joint. Let Slen = the length from the shoulder to the elbow. Let Sdef = a normal vector representing the default ...


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There is a wide range of ways to handle this, starting from the obsolete use of sprites up to fully rigged bodies with inverse kinematics and everything in between. So, to begin with, you can have textures. Recoil and reload animations are of course 2D animations. They can even be made to look good in a modern setting by having high resolution and using ...


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If an easy-to-read way to offset the LookAt is required, then the following will work: Chest.LookAt(aim); Chest.rotation *= Quaternion.Euler(ChestAimCenterOffsetBecauseHandsDontPointStraightForward.x, ChestAimCenterOffsetBecauseHandsDontPointStraightForward.y, ChestAimCenterOffsetBecauseHandsDontPointStraightForward.z); According to DMGregory's lesson ...


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Original Article: Overview of Inverse Kinematics I highly suggest the above link for a high level overview of Inverse Kinematics. It goes over IK jargon, IK usage/applications, and high level descriptions of the forward kinematics and inverse kinematics. What are the uses of IK? IK can be used for a humanoid arm to reach for an object/target, as we’ve ...


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It looks like you want AnimatorState.iKOnFeet. You can navigate to an AnimatorState from an AnimatorController by... Using AnimatorContoller.layers to navigate the layers in the control graph. Using AnimatorControllerLayer.stateMachine to access the state machine for the selected layer. Using AnimatorStateMachine.states to navigate the states present in ...


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Let's attack this in parts: we'll find where to place the end of the first bone, then figure out where the other two go. Once we've arranged the first bone, what remains is a two-bone IK problem, which we already know how to solve analytically. The trick is to understand the constraints on where the end of the first bone can end up. It can't be further away ...


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I don't think you are able to set the flag during runtime. You should tick the box in editor if you plan to use IK features and then during runtime use the weight to adjust behaviour. GetLayerIndex only returns the layer index for that layer as integer. After you know it, you can use Animator.SetLayerWeight to adjust the layer weight.


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BONUS ANSWER: The question is only asking for, "Can the arm reach the point?" However, the next question would typically be, "What angles do I set each joint to so that the arm is touching the point?" My first answer describes the set up nicely, so using the terms of the answer, I will answer the followup question. At this point, we know the absolute values ...


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I've never wrote CCD solver with pole targets but I've played quite a lot with FABRIK algorithm and I may have some idea to try. Just before you run your solver try to rotate entire IK chain towards you pole target and then run the CCD. This should move you IK computations to the plane containing chain start, chain target and pole target. As I've said I ...


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As you can see in videos you've provided it is possible even for more characters. In the second video you have more than 10 models, each of them is computed in realtime and I suppose they don't share the same IK results (the reason for this demo is to show it can solve foot and hand contacts for different character proportions, so each character is computed ...


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So, I solved it. Turns out I just needed to get away from the problem a bit. Just in case anyone else wants to replicate this, I got it working and I made a function in C# (Although it should be really easy to transpose it to any other language) that solves 2D arms. Arms being assumed to be made up of two segments with shoulder and elbow joints. All angles ...


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You're thinking of inverse kinematics. The effort you'd have to go to to do this 'simple' thing in code is actually quite extensive. You are better off to have your animator do it, it should take him very little time compared to the time you'll spend. If you can't afford that it's still going to be much faster to just learn how to make a pose yourself and ...


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The gist of CCD is really nothing dazzling. Here's the description of a serial set-up (a chain of links and joints) you have an assembly of N joints and N links the first joint is called the root joint and has index 0 joint i defines the frame where the rigid body for link i has its geometry described in (it's easier since people usually select a local ...


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Fixed it by replacing currentBone->m_localTransform = glm::rotate(currentBone->m_globalTransform,- (float)turnDeg,crossResult); with glm::mat4 rotation = glm::axisAngleMatrix(crossResult, (float)turnAngle); currentBone->m_localTransform *= rotation;


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Original Article: What do I need to know about Inverse Kinematics? You’ve probably heard of Inverse Kinematics. IK is a popular tool in Unity and computer graphics, but if this is the first time you’ve tried to create or use an Inverse Kinematics system then you might want more details. I’m going to explain what IK is, define the vocabulary, and review the ...


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