The implementation of an OpenGL based C++ program to animate a humanoid walking up stairs and across an incline. Forward kinematics is used to walk up stairs, by setting the root to the torso when lifting the leg and to the foot when lifting the body up one step. Inverse kinematics is used to adjust the height of the foot when walking across the incline. If the ankle passes below the surface of the floor, the ankle is lifted to a position above the floor with inverse kinematics and the angle of the foot is adjusted to match the incline. The actual joint angles used for the walking animation are not the greatest, but could be easily adjusted to provide a more natural gait. A simple skinning algorithm was used to add a skin to the 'skeleton' of the figure. Key commands describing program usage are printed to an accompanying console. An executable and C++ source code are available for download. The following images show a solid figure, and a wireframe figure with skeleton exposed.

Filename	Size	Update
cs266_final_src\animation.cpp	883	2006-12-18
cs266_final_src\animation.h	2721	2006-12-20
cs266_final_src\basicterrain.cpp	2940	2006-12-19
cs266_final_src\basicterrain.h	1465	2006-12-20
cs266_final_src\bonecluster.cpp	821	2006-12-18
cs266_final_src\bonecluster.h	851	2006-12-20
cs266_final_src\fkframer.cpp	1030	2006-12-20
cs266_final_src\fkframer.h	2507	2006-12-20
cs266_final_src\framer.h	472	2006-12-20
cs266_final_src\humanskeleton.cpp	10028	2006-12-20
cs266_final_src\humanskeleton.h	1253	2006-12-20
cs266_final_src\humanskin.cpp	21772	2006-12-20
cs266_final_src\humanskin.h	2029	2006-12-20
cs266_final_src\humanstairanimation.cpp	2283	2006-12-19
cs266_final_src\humanstairanimation.h	1419	2006-12-20
cs266_final_src\humanstairframer.cpp	22205	2006-12-20
cs266_final_src\humanstairframer.h	1360	2006-12-20
cs266_final_src\humanwalkanimation.cpp	3670	2006-12-19
cs266_final_src\humanwalkanimation.h	1325	2006-12-20
cs266_final_src\humanwalkframer.cpp	4079	2006-12-19
cs266_final_src\humanwalkframer.h	368	2006-12-20
cs266_final_src\ikframer.cpp	6090	2006-12-20
cs266_final_src\ikframer.h	2715	2006-12-20
cs266_final_src\kinematics.sln	980	2006-12-17
cs266_final_src\kinematics.vcproj	6166	2006-12-19
cs266_final_src\main.cpp	11299	2006-12-20
cs266_final_src\matrix.cpp	4737	2006-12-17
cs266_final_src\matrix.h	1526	2006-10-17
cs266_final_src\matrix44.cpp	3686	2006-10-17
cs266_final_src\matrix44.h	1384	2006-12-19
cs266_final_src\names.h	1648	2006-12-20
cs266_final_src\shape.h	1642	2006-12-20
cs266_final_src\shapebone.cpp	725	2006-12-20
cs266_final_src\shapebone.h	1056	2006-12-20
cs266_final_src\shapecube.cpp	1326	2006-12-17
cs266_final_src\shapecube.h	292	2006-12-20
cs266_final_src\shaperhomboid.cpp	1359	2006-12-19
cs266_final_src\shaperhomboid.h	313	2006-12-20
cs266_final_src\skeleton.cpp	3868	2006-12-20
cs266_final_src\skeleton.h	7681	2006-12-20
cs266_final_src\skin.cpp	692	2006-12-19
cs266_final_src\skin.h	2150	2006-12-20
cs266_final_src\terrain.h	579	2006-12-20
cs266_final_src\timer.h	442	2006-12-20
cs266_final_src\vector3.h	2801	2006-12-19

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