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Forward kinematic animator
Forward kinematic animator
Written for Intro to Geometric Modeling (ECS 178)
Links Proposal
Program download 
Lets you create simple 3D animations of hierarchical models. Basic instructions are included with the program itself. One thing not mentioned in the instructions is that the bar at the bottom allows you to change how the frames are spaced out time-wise.

This program came out of a proposal & presentation I gave, which can be downloaded here.

The project was meant to show the differences between linearly interpolating keyframes of the animation and using a smoother method. Each of the joints is rotated by using quaternion interpolation over a sphere, which is difficult to do. One of the methods I settled on involved projecting the surface of the sphere onto a higher dimensional space, creating a C2 continuous curve on that, then projecting backwards.