Editing Inverse kinematics (section)

==Inverse kinematics and 3D animation==
{{Further|Robotics|Computer animation}}
Inverse kinematics is important to [[game programmer|game programming]] and [[3D animation]], where it is used to connect [[Player character|game characters]] physically to the world, such as feet landing firmly on top of terrain (see  <ref>A. Aristidou, [[Joan Lasenby|J. Lasenby]], Y. Chrysanthou, A. Shamir. [https://doi.org/10.1111/cgf.13310 Inverse Kinematics Techniques in Computer Graphics: A Survey]. Computer Graphics Forum, 37(6): 35-58, 2018. </ref> for a comprehensive survey on [http://www.andreasaristidou.com/publications/papers/IK_survey.pdf Inverse Kinematics Techniques in Computer Graphics]).

An animated figure is modeled with a skeleton of rigid segments connected with joints, called a [[kinematic chain]].  The kinematics equations of the figure define the relationship between the joint angles of the figure and its pose or configuration.  The [[forward kinematic animation]] problem uses the kinematics equations to determine the pose given the joint angles.   The ''inverse kinematics problem'' computes the joint angles for a desired pose of the figure.

It is often easier for computer-based designers, artists, and animators to define the spatial configuration of an assembly or figure by moving parts, or arms and legs, rather than directly manipulating joint angles.  Therefore, inverse kinematics is used in computer-aided design systems to animate assemblies and by computer-based artists and animators to position figures and characters.

The assembly is modeled as rigid links connected by joints that are defined as mates, or geometric constraints.  Movement of one element requires the computation of the joint angles for the other elements to maintain the [[joint constraints]].  For example, inverse kinematics allows an artist to move the hand of a 3D human model to a desired position and orientation and have an algorithm select the proper angles of the wrist, elbow, and shoulder joints.  Successful implementation of computer [[animation]] usually also requires that the figure move within reasonable [[anthropomorphism|anthropomorphic]] limits.

A method of comparing both forward and inverse kinematics for the animation of a character can be defined by the advantages inherent to each. For instance, blocking animation where large motion arcs are used is often more advantageous in forward kinematics. However, more delicate animation and positioning of the target end-effector in relation to other models might be easier using inverted kinematics. Modern digital creation packages (DCC) offer methods to apply both forward and inverse kinematics to models.