Paul Naas
Adjunct Faculty,
Multimedia Art & Technology

DON'T FORGET TO FREEZE TRANSFORMATIONS (Modify>Freeze Transformations) after creating a control. It allows you to reset easily in case something goes horribly wrong.

Leg IK:

1. From the Animation menu, select Skeleton>IK Handle Tool>Option box and make sure the Current Solver is set to RP solver.
2. Create IK chains between the hip and ankle joints, the ankle and toe joints, and the toe and toe end joints.
3. Create a NURBS circle to use as a controller. Position it around the foot and freeze transformations.
4. Select the toe end and toe IK handles and parent them to the ankle IK handle ("p")
5. Select the ankle IK handle and parent it to the NURBS circle ("p").
6. Create a locator for a pole vector constraint (Create>Locator).
7. Hold down "v" for snap and move locator to knee.
8. Move locator away from knee on the Z axis.
9. Freeze transformations for the locator.
10. Select the locator, then the ankle IK handle.
11. Select Constrain>Pole Vector.

Root control:

1. Create a NURBS circle to use as a controller. Position it around the character's waist and freeze transformations.
2. Select the root joint then the controller circle, and parent ("p").

Character move control:

1. Create a NURBS circle to use as a controller. Position it at the base of the character and freeze transformations.
2. Select the foot controllers, the knee pole vector constraints, and the root control, then the controller circle, and parent ("p").

OPTIONAL
Arm IK: (Use arm IK only if your character has to keep his hands planted on something)

1. Select the wrist joints, go into component mode (F8), click on the question mark button (?), and rotate axis so that the X axis aligns with the bone connecting the wrist to the elbow.
2. Right-click and select "Set preferred angle", then freeze transformations
3. Exit component mode (F8).
4. Create a NURBS circle to use as a controller. Position it around the wrist and freeze transformations.
5. With the NURBS circle selected, go into component mode (F8), click on the question mark button (?), and align the X axis similar to the alignment of the wrist joint.
6. Exit component mode (F8).
7. Create an IK chain (Skeleton>IK Handle Tool) between the shoulder and wrist joints.
8. Select the controller circle then the IK handle, and select Constrain>Parent. NOTE: DO NOT use a simple parent command for this. Constrain>Parent adds additional information that makes this work.
9. Select the controller circle then the wrist joint, and select Constrain>Orient.
10. Create a locator for a pole vector constraint (Create>Locator).
11. Hold down "v" for snap and move locator to elbow.
12. Move locator away from elbow on the Z axis.
13. Freeze transformations for the locator.
14. Select the locator, then the IK handle.
    
15. Select Constrain>Pole Vector.
16. Select the wrist controllers and the elbow pole vector constraints, then the controller circle, and parent ("p").