This is a C++ library implementing the FABRIK inverse kinematics solver (see references for paper).
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
The library has no prerequisites. The visualizer used for development of the library requires irrlicht - a 3D graphics library.
If you are using CMake, you can add the library to your project by including
solver/solver.hpp
and adding similar line to your CMakeLists.txt:
add_subdirectory(${PROJECT_SOURCE_DIR}/ikSolver/solver)
and including
ikSolver
in
target_link_libraries
Otherwise you can build the library by running
cd solver && mkdir build && cd build && cmake .. && make
and then link libikSolver.a and add the solver/include include directory.
If you are interested in helping with the development, you can use the included visualizer tool. In that case you will need to install irrlicht.
- CMake - Dependency Management
- Aleš Koblížek - Initial work - kobli
See also the list of contributors who participated in this project.
This project is licensed under the MIT License - see the LICENSE.md file for details
- Andreas Aristidou and Joan Lasenby. FABRIK: A fast, iterative solver for the inverse kinematics problem. Graph. Models, 73(5):243–260, September 2011.