@mark
Happy New Year Mark and many thanks for the IK patch. I was able to reconstruct it for Isadora 2.6.1 and it is working fine with a Kinect and NI-mate. So far I have built IK for the lower arms(elbow-hand) and lower foot(knee-foot), but I have some questions about the following JS code within 'Macro JS Quaternion Calc angle':
// create v1 from the x1/y1/z1 arguments
// this should be one point on a rigid body such as a hand
var v1 = new THREE.Vector3(arguments[0], arguments[1], arguments[2]);
// print('v1 = ' + v1.x + ' ' + v1.y + ' ' + v1.z + '\n');
// create v2 from the x2/y2/z2 arguments
// this should be the second on the rigid body such as an elbow
var v2 = new THREE.Vector3(arguments[3], arguments[4], arguments[5]);
QUESTION 1: Is it correct that v1 is the end-effector(or target), and v2 is the rotating joint? I am asking because the IK works for the arm link when v1 is the hand's xyz coordinates and v2 is the elbow's coordinates, but for the foot link, the IK works when v1 is the knee's xyz coordinates and v2 is the foot's xyz coordinates.
QUESTION 2: when the arm link is moved to vertical with the hand straight up, the link rotates 360 degrees around its Y axis(around the spine of the link). Is this normal, or perhaps I have made an error?
QUESTION 3: see below for the orientation of my link. When this link is used for the left or right arm, the IK works correctly when +180 is added to the x rotation provided by the JS Quaternion Calc actor, but this modification is not needed when the link is used for the lower leg. Does this seem normal, or perhaps I have made an error?
many, many thanks Mark,
Don
