运用正反向动力学来坐上楼梯动画，包括骨骼，蒙皮。(The implementation of an OpenGL based C++ program to animate a humanoid walking up stairs and across an incline. Forward kinematics is used to walk up stairs, by setting the root to the torso when lifting the leg and to the foot when lifting the body up one step. Inverse kinematics is used to adjust the height of the foot when walking across the incline. If the ankle passes below the surface of the floor, the ankle is lifted to a position above the floor with inverse kinematics and the angle of the foot is adjusted to match the incline. The actual joint angles used for the walking animation are not the greatest, but could be easily adjusted to provide a more natural gait. A simple skinning algorithm was used to add a skin to the 'skeleton' of the figure. Key commands describing program usage are printed to an accompanying console. An executable and C++ source code are available for download. The following images show a solid figure, and a wirefr a me figure with skeleton exposed.)