Christoph
Fleschutz

Overview

This project implements two popular Inverse Kinematics (IK) algorithms in C++ and visualizes them using Qt. Inverse Kinematics are commonly used in Robotics and Computer Graphics to place an end-effector such as a robotic hand or a character’s foot on a desired target location. To achieve this, the entire bone chain needs to be adjusted dynamically.

The project includes implementations of the following IK algorithms:

• Cyclic Coordinate Descent (CCD)
• Forward and Backward Reaching Inverse Kinematics (FABRIK)

Both approaches run in real-time, making them suitable for interactive applications such as games. The included Qt demo provides an interactive visualization of the algorithms in action.