This post concludes the theoretical introduction to Inverse Kinematics, providing a programmatical solution based on gradient descent. This article does not aim to be a comprehensive guide on the topic, but a gentle introduction. The next post, Inverse Kinematics for Robotic Arms, will show an actual C# implementation of this algorithm in with Unity.
The other post in this series can be found here:DistanceFromTarget
- Part 1. An Introduction to Procedural Animations
- Part 2. The Mathematics of Forward Kinematics
- Part 3. Implementing Forward Kinematics
- Part 4. An Introduction to Gradient Descent
- Part 5. Inverse Kinematics for Robotic Arms
- Part 6. Inverse Kinematics for Tentacles
- Part 7. Inverse Kinematics for Spider Legs 🚧 (work in progress!)
At the end of this post you can find a link to download all the assets and scenes necessary to replicate this tutorial.