Kinematic Linkages - Computer Animation: Algorithms and Techniques - page 169

T 0

Data for Link 0 (the root)

T 1
R 1 (

1 )

Data for Link 1

T 1.1
R 1.1 ( 1.1 )

Data for Link 1.1

FIGURE 5.10
Hierarchy showing joint rotations.

Link 1.1

1.1

Link 1

1

2

T 0

2.1

FIGURE 5.11
Hierarchy with two appendages.

In the case of a second appendage, the tree structure would reflect the bifurcations (or multiple
branches if more than two). Adding another arm to our simple example results in Figure 5.11 .
The corresponding tree structure would have two arcs emanating from the root node, as in
Figure 5.12 . Branching in the tree occurs whenever multiple appendages emanate from the same object.
For example, in a simplified human figure, the root hip area (see Figure 5.5 ) might branch into the torso