Key Concept: FK/IK switching

• Kinematics is the critical dimension

• ...so FK/IK is the critical “spaceâ€? for limbs

  • Switching extremely common for arms
  • Less common for legs

• IKFK is harder than it should be

  • In-package IK/FK is dumb about control objects
  • You need to manage two sets of keys

• How does FK/IK work?

  • Imagine it as 3 copies, animated side by side:
    • An FK copy
    • An IK copy
    • A “resultâ€? copy, FK blended (ie, joint rotations averaged)between them

• Roll your own IK/FK switches

  • The key refinement: interval matching