Implementing Inverse kinematics on GPU

摘要

Inverse kinematics is widely used in computer animation and human motion synthesis. Normally, most IK methods are based on numerical method and implementation of IK request large amount of numerical computation. In this paper, we present a method which utilizes the graphics hardware to do inverse kinematics computation. Our GPU IK method is based on a simple while efficient IK solver -CCD, and we developed a parallelized CCD solver to fit the architecture of mainstream GPUs. Although only four bones link was considered in our implementation, the algorithm can be generalized to multiple character IK computation.