For my character's left arm I have used inverse kinematics, and when it comes to keeping its place in 3d space it is incredible useful because the hand stays planted where it is. IK doesn't give you as much exact freedom as forward kinematics because with FK you can change the angle of a movement by however small increments you want, whereas with IK you need to set the keys, and then try to tweak the graph editor in order to produce the type of movement you need.
I had the characters right arm, which is holding the staff, set to FK so that I am able to control it's exact movement. The trouble with this is that it does not stay planted when the body moves, and therefore to try and keep the staff planted in the same place seems near impossible at the moment due to the body moving its location. Below is a quick video of what I mean; during the movement of the body the FK arm moves, and so is causing problems.
The video is quite short because it is not on a loop, but for the first few frames I have tried to correct the FK movement of the staff, but after that you can see what the problem looks like when the staff starts to move with the motion of the body, because unlike the IK left arm it is not planted.
When trying to resolve this problem I used the graph editor to change the tangents of the keys, hoping that they would help keep the staff in place. They were set to spline in and out, so I changed them to linear going out of the problematic keys and into the next key, which helped a fair amount, but I was still seeing a lot of jerking from the arm and would only have been a temporary fix, as next time I manipulated the staff I would have to do it yet again and spending hours trying to fix such a small problem is a waste of time.
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