Practical Algorithms for 3D Computer Graphics, 2nd Edition

6.5. Physics 237

Working tool head

Figure 6.30: An inverse kinematic simulation of two id ea liz ed 5 degree of freedom

robots performed using the cyclic coordinate descent algor ith m.

orientation are set interactively by the user; the articulated linkage then follows

these points. The angular orientation of each of the joints is determined by

the algorithm. A screenshot of the program is illustrated in figure 6.30. The

visualization was created using a combination of the basic pr imitive cylinders

and cubes rendered using OpenGL and the GLUT an d adapted from the basic

template program presented in section 7.1.5.

6.5 Physics

When comp u ter game pr ogr ...