> Does anyone know where I can find some sample Inverse
> Kinematics code using OpenGL (for display)?
> 3d code for an articulated figure (like a human body) would
> be great.
I made my thesis from Ik and used OpenGL in the test bench. Although I think
that these subjects (Ik, hierarchy and OpenGL) are largely independent from
each other. I constructed a numerical engine to solve Ik with Inverse Jacobian
and with a simple recursive solver. The object hierarchy needs OpenGL only for
displaying skeleton links. These are drawn by glaux as my main point was to get
the ik working. Actually it did not even work well in 3D-cases, 2D works just
You still have to construct the hierarchy (human body) yourself. In this the
Humanoid Animation Group might be a good starting point.
You can find my example project (win32) and C++ source code (portable to unix)
from my homepage: