====== Building an IK Model ======

==== Introduction ====

This tutorial will show you step by step how to build an IK model. The file used for this tutorial is the file used for the [[Visual3D:Tutorials:Modeling:Building_a_Model|Building a 6 DOF Model]] tutorial.

There is also a video tutorial available [[https://www.youtube.com/watch?v=GusPPIdK4pQ%7C|here]]

==== Tutorial ====

**1.** Open the file and go to the Models tab.

**2.** Under the Segments tab open the IK Constraints tab.

{{:IKConstraintTabHighlight.png}}

**3.** Click the //New Linkage// button.

{{:NewLinkageButton.png}}

**4.** In the Create Linkage window type the name of the new linkage and click Okay.

{{:CreateLinkageWindow.png}}

**5.** You'll notice that the linkage you created shows up in the IK Constraints dialogue.

{{:LinkageInputHighlight.png}}

**6.** Under //Segment// select //Pelvis//

{{:IKPelvisSelect.png}}

**7.** Under //Parent// choose //LAB//

{{:ParentLABSelect.png}}

**8.** You want the pelvis to have all six degrees of freedom so make sure all of the boxes are checked.

{{:IKPelvisFreedomBoxes.png}}

**9.** Click //Add// and the new constraint will appear in the window below

{{:IKPelvisAdded.png}}

**10.** Keep the //Linkage// the same but change the //Segment// to Right Thigh and the //Parent// to Pelvis.

{{:RightThighIKSegment.png}}

**11.** Select only the bottom row of Mobilizers.

{{:IKRightThighMobilizers.png}}

**12.** Add the new constraint.

{{:IKRightThighAdded.png}}

**13.** Now set the //Segment// as Right Shank and the //Parent// as Right Thigh.

**14.** Add this constraint.

**15.** Set the //Segment// as Right Foot and the //Parent// as Right Shank

**16.** Add this constraint.

**17.** Set the //Segment// as Left Thigh and the //Parent// as Pelvis and add this constraint.

**18.** Set the //Segment// as Left Shank and the //Parent// as Left Thigh and add this constraint.

**19.** Set the //Segment// as Left Foot and the //Parent// as Left Shank and add this constraint.

**20.** Click the Build Model button

{{:IKBuildModelButton.png}}

**21.** Your IK model has now been built

**22.** If your CMO has a motion file in it you will notice that building an IK Model will change the marker colour from white to green.

{{:IKMarkerColour.png}}