top of page

Forward/Inverse Kinematics with Unity Plugin

  • Implemented both forward kinematics and inverse kinematics algorithms from the ground up, with the latter incorporating Limb-based and Cyclic Coordinate Descent (CCD) methods.

  • Incorporated Limb-based inverse kinematics algorithm into Unity plugin, which equips a humanoid model with the capability to ascend and descend ramps. This feature dynamically adjusts the model's stance and foot positioning in accordance with changes in ramp height and incline.

​

Skills related: C++, C#

5.gif

Implemented forward kinematics to play custom animations

6.gif

Limb-based inverse kinematics

7.gif

Cyclic Coordinate Descent (CCD) inverse kinematics

4.gif

Example scene in Unity that demonstrates inverse kinematics

bottom of page