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[bearsomg]

Hello. I am writing an IK solver for a 3D rendering engine that I am designing. My solver works correctly for the most part, but sometimes it will make the animation look jerky or completely spazz out (this usually happens when the joints have to bend over each other more).

This is my solver function: http://pastebin.com/K1UZf0D5


The UpdateIK() function uses this algorithm to update the bone's combined transform:

D3DXMatrixRotationQuaternion(&combTrans, &combRot); 
combTrans(3,0) = translate(3,0) + offset.x; 
combTrans(3,1) = translate(3,1) + offset.y; 
combTrans(3,2) = translate(3,2) + offset.z;
if (_parent) 
combTrans *= _parent->getCombinedTrans();

Here is a video example of how the IK will be jerky or spazz out. Look at the left leg. The video is the model's bone structure.