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Published on Jul 2, 2011
not one not two but 3 different kind of inverse kinematic have been used in this rig! There's a "ghost" arm,made with 2 joints and an ordinary IK chain,without any weights attached,which governs the real arm sharing the twin goals in the wrist and the roots in the shoulder.
The "bendy" arm is not a spline IK,it just has several joints,from its wrist starts the last chain for the hand with the goal removed from the IK and the dynamics turned on.
The first joint of that has a constrain "aim" and looks to the elbow at the beginning and to an external null working as a fake goal in later versions. All it's made stable with two clamp constrains,one set to max and the other to fix to let the elbow to move in a tidy way.