# Arpad Kovacs's CS184 Page (Spring 2009) - Final Project

## The Ultimate Triple Pendulum, by Team CS184-*x

- Arpad Kovacs
- Eric Biggs

## Concept and Goals:

We will implement a triple pendulum, including:- user interaction with inverse kinematics to set the initial position of the triple pendulum.
- limited forward dynamics through a physical simulation of the motion of a triple pendulum.

- interesting effects with translucent light-trails as the 3 lights carve out the arcs of the pendulum.
- texture/bump mapping of the triple pendulum
- possible port to render frames of the pendulum's motion via raytracing (non-realtime).

## Progress as of 5/12/2009

We've implemented inverse kinematics as outlined by Niels' worksheet. Works well.

We've also implemented Mouse interaction by casting a mouse ray from any arbitrary camera into the scene to position the IK-target for the end of the pendulum to reach for using IK. Also works well.

We've also derived an equation for our 3 angular accelerations. And have implemented dynamics animation accordingly by Runge-Kutta-4 with Δt=60th of a second. Quite Solid.

### Still TODO:

We're currently in the process of making it look pretty. Here's a snapshot of the pendulum in motion with just a IK/Dynamics Skeleton representation. You can also observe the X marking the intersection point of the mouse with the xy-plane with the camera positioned arbitrarily and with perspective-projection.

### Screenshots

Short animation of inverse-kinematics and dynamics functionality

Picture of the scene from arbitrary perspective-projection