The code here implements a simulation and visualization tool for inverse kinematics (IK) and inverse dynamics (ID) using a simplified version of the human skeleton.
At a high level, the tool reads in motion capture data and uses the ODE physics simulator to compute likely vectors of kinematic (joint angle) and dynamic (joint torque) information during the recorded movements. This computation happens faster than real-time, allowing the inverse computations to be included in a virtual reality simulation.
To begin using this code base, first install the ODE patch as described in the ode direcory's README and in the ODE setup wiki page. Then build and run in QtCreator, see the QtCreator wiki page for details.
On Linux, QtVR is configured by default to load ODE from the ./ode subtree
within the source tree.
By default, nothing is included in this subtree. This allows each user
performing the build to specify which ODE library should be loaded for their
particular machine configuration. To get up and running, just symlink the
include and lib files from your local ODE installation as needed. A helper
script is included in ./ode/symlink.sh to perform this linking process for
you; just run it by specifying the ODE installation prefix:
./ode/symlink.sh /usr/local
In the future, we might change this so that ODE is automatically downloaded, patched, and built as part of the build process.