darkwings520 / qtvr

Physics-based inverse kinematics (IK) and inverse dynamics (ID)

QtVR

Physics-based IK and ID

The code here implements a simulation and visualization tool for inverse kinematics (IK) and inverse dynamics (ID) using a simplified version of the human skeleton.

At a high level, the tool reads in motion capture data and uses the ODE physics simulator to compute likely vectors of kinematic (joint angle) and dynamic (joint torque) information during the recorded movements. This computation happens faster than real-time, allowing the inverse computations to be included in a virtual reality simulation.

Setup notes

To begin using this code base, first install the ODE patch as described in the ode direcory's README and in the ODE setup wiki page. Then build and run in QtCreator, see the QtCreator wiki page for details.

Linux

On Linux, QtVR is configured by default to load ODE from the ./ode subtree within the source tree.

By default, nothing is included in this subtree. This allows each user performing the build to specify which ODE library should be loaded for their particular machine configuration. To get up and running, just symlink the include and lib files from your local ODE installation as needed. A helper script is included in ./ode/symlink.sh to perform this linking process for you; just run it by specifying the ODE installation prefix:

./ode/symlink.sh /usr/local

In the future, we might change this so that ODE is automatically downloaded, patched, and built as part of the build process.