Appling contact constraints in Inverse Kinematics

[Gabriel Oliveira]

Based on published motion capture data I try to run Inverse Kinematics to obtain a motion file for shoulder modeling. The issue is I have a shoulder implant in my model it specific kinematics constraints. The motion file output from IK results in penetration problems in the implant. I know I can apply limit coordinates as absolute values, but I like to apply constraints as function of another parameter. E.g. With the x-axis is 30° the maximum of y-axis is 45°, but if the x.axis is 45° the maximum of y-axis is 47°. Please advisse

[jimmy d]

You could try to use a custom joint to implement a Spatial Transform. Have a look at the Gait2392 knee joint for an example.