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NodUrIK

########################################## CS184 - Foundations of Computer Graphics Assignment 3: Bezier Subdivision ##########################################

Projects URL: http://www-inst.cs.berkeley.edu/~cs184-ds/Projects/projects.html

Authors:

Wisam Reid (cs184-ds) Eddie Groshev (cs184-en)

Platform:

Mac OSX

Tested on Mac OSX 10.9.5 and Mac OSX 10.6.8 on personal computer(s).

BUILD:

Run 'make' to build

SOURCE FILES:

src:

main.cpp joint.cpp link.cpp kinematicBody.cpp vertex.cpp viewpoint.cpp

include:

joint.h link.h kinematicBody.h viewpoint.h

Libraries and credits:

eigen https://github.com/cryos/eigen

oscpkt http://gruntthepeon.free.fr/oscpkt/

FUNCTIONALITY (SPEC):

  1. Satisfies minimum requirements from spec

    see video1.mp4

    • Solving an IK problem on an arm that consists of at least four links that are connected in a serial chain by ball joints.

    • The lengths of the segments must not all be the same: the longest segment must be at least twice the length of the shortest.

    • The root link should be attached to an immobile base by a ball joint.

    • The goal is to position the end of the arm at a specified goal point in 3D.

    • The solver should be robust to out-of-reach goals.

    • You may use the algorithm described in class or any other algorithm that produces good results.

Controls:

  1. Arrow keys (Move Camera)

  2. SpaceBar + Arrow Keys (Rotates Path)

Command line arguments:

N/A

FUNCTIONALITY (E/C):

  1. joint limits

    see video2.mp4

  2. other joints besides ball joints

    see video2.mp4

  3. Nod Ring control of IK arm over UDP

    see https://hellonod.com/ see video3.mp4

VIDEOS:

video1.mp4 video2.mp4 video3.mp4