Taking what I learnt from the Autodesk exercise, I have now constructed the legs. These are driven using an ikRP solver (Rotate Pole) which was applied to the upper and lower leg. This allows for a pole vector to be introduced to the mix in order to create a IK influence, e.g. controlling the knees leg direction. The ability to switch between IK and FK has also been added. The first link at the end of this post shows this technique.
By using the original foot bones, a new set were created and snapped into the same position. Then, two ikSP solvers (single chain, advantageous when no twisting is required) are connected. These are for controlling the ankle and the ball of the foot. Once a nurbs foot controller was made, the next next stage is to connect the foot to the foot controls in the command panel. This needs to be done using what are known as custom attributes.
Here are a couple of links to the short videos, demonstrating and showcasing the leg processes:
IKFK blend Leg - LINK
Knee Pole Vectors - LINK
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