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Title: cs266_final_src Download
 Description: 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.
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FilenameSizeDate
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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