This is a project for the Computer Animation class taken fall of 2024. I implemented Forward Kinematics, Inverse Kinematics with Limb-Based and Cyclic Coordinate Descent approaches, Linear Blend Skinning, and Binding using volume spheres. Everything was then integrated into a Unity Plugin, with Foot-IK support so that the character's foot will always land on the surface of any terrain.
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Since I first learned how to rig a character in a 3D software (Blender & Maya) before learning about kinematics and skinning, it was really intriguing to finally understand how everything works under the hood! Also when playing open-world games now, I can't help but to observe how different they handle character's foot animations on different terrains (i.e. stairs, rocks).