   Simple Translation problem with using Inverse Kinematics
  I currently hate my school.  It seems they have ill prepaired me for graphics programming, despite what my degree says...I'm working on an Inverse Kinematic system.  It is now working successfully from base to palm.  However, I would like to solve for the end of the tool. (all these are 4x4 matrices)Palm to Tool  = Rx * Ty * Rxyz * TzMy solution was simply to invert the palm to tool matrix, and apply it to my goal (g)  (T' = T inverse)Final =  G * Tz'  * Rxyz' * Ty' * Rx'However, it's not working...I tried Final = G * Tz'And it seems to be translating according to world coordinates, rather then frame coordiates.  I want the Tz' to be a translation accord to G coordinates, but instead it appears to be a straight translation in Z, no matter what orientaion G is.  What am I doing wrong?  OR if I'm doing everything right, where should I be looking for a mistake?   ~~~~~"First off, kneel when you speak to me..." - Programmer One Download and play Slime King I.[edited by - dede on February 17, 2004 4:16:41 PM][edited by - dede on February 17, 2004 9:19:12 PM]