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gkjohnson / closed-chain-ik-js

A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques
https://gkjohnson.github.io/closed-chain-ik-js/dist/index.html
Apache License 2.0
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Solver: SVD causes result to diverge sometimes #76

Open gkjohnson opened 3 years ago

gkjohnson commented 3 years ago
  1. Open Example
  2. Enable SVD on solver
  3. Move the first leg down
  4. Right click the body
  5. Try to move any goal and see that it diverges
  6. Disable SVD on solver
  7. Moving the goals works as expected

It's also causing stutter on the first solves.

Is the issue in the source library? Or am I using the SVD incorrectly?