2009
CommentsFree AxesLink NameBiped Link
Rotating pivots
from shoulder to
wrist
X, Y, ZR UpperArm, L Up-
perArm
Shoulders (upper
arm)
Hinge plus special
rotation
X, ZR Forearm, L Fore-
arm
Elbows (lower arm)
Rotating pivots
from hip to ankle
X, Y, ZR Thigh, L ThighHips (upper leg)
Hinge plus special
rotation
X, ZR Calf, L CalfKnees (lower leg)
X, Y, ZR Hand, L HandHands
If feet are planted,
adjusts legs to keep
X, Y, ZR Foot, L FootFeet
feet and toes above
ground
Finger bases have
three free axes;
X, Y, ZFinger0, 01, 02
Finger1, 11, 12,
amd so on
Fingers
other finger joints
have Z only
Toe bases have
three free axes;
X, Y, ZToe0, 01, 02 Toe1,
11, 12, and so on
Toes
other toe joints
have Z only
Pelvis as Ball Joint
The pelvis can be rotated in all three axes: X, Y, and Z. This ball joint provides
three degrees of freedom, improving the flexibility of animating with a biped,
because the pelvis gyrations are isolated from the center of mass (COM)
rotation. This causes the COM to assume a smoother trajectory, which also
influences the biped’s head and arms. As a result, they will look more natural
moving in the body’s COM rotational space.
4244 | Chapter 17 character studio