Java3D Inverse kinematics application

This is my early work on Inverse Kinematics. Basically i wanted to demonstrate IK in a 3D environment. I replaced this application with a nicer looking Flash version, but decided to still post it here because: 

1) IK on Java3D is hard to find (I didnt manage to find one)

2) Show that it can be done in Java3D (Some Java books claim Java3D scenegraph works against IK)

Java3D IK ARM : This arm runs on the Jacobian Transpose method. If you never worked on Java3d before, you will probably not be able to view it. You will need the Java3d API. If you are running mac, unfortunately the latest OS 10.5.x does not support Java3d. so much for being a portable language.

Educational Flash Application on Inverse Kinematics

These application were created for the purpose of illustrating Inverse Kinematics. Inverse Kinematics is a technique applied to manipulate robotic arms or articulated figures. To me IK is a broad and challenging topic unfortunately most text focuses mostly on the Jacobian methods. 

3D arm using Papervision3d : Runs on Jacobian Pseudoinverse and Damped Least Square. Click and hold on the mouse to have the arm move to the corresponding location on the blackboard.

Running skeleton : Using Forward Kinematics + Sinusoidal timer to create a simple animation

Cyclic Coordinate Descent : Illustrates the principle by which it works on. The movement of each joint is slowed down on purpose. This method is more suitable for computer animation as joint angles could be updated instantly. 

Comparison Application :  A general application to display how the various IK approaches manipulates their respective articulated figure. The approaches within the application were those that i have researched on. 

Snake Game : Remember the classic handphone snake game ? ? Well this is a remake of it by using Inverse Kinematics to model how the snake moves. The thought of creating this game seems to come naturally having created so many application related to moving a chain of links. Unfortunately it seems the idea is not new on the internet... ... Anyway this snake moves using the CCD approach. *This application is lacking of music/sound* If you are a interested to contribute your original audio works do drop me an email :)