JACK: a toolkit for manipulating articulated figures

The problem of positioning and manipulating three dimensional articulated figures is often handled by ad hoc techniques which are cumbersome to use. In this paper, we describe a system which provides a consistent and flexible user interface to a complex representation for articulated figures in a 3D environment. Jack is a toolkit of routines for displaying and manipulating complex geometric figures, and it provides a method of interactively manipulating arbitrary homogeneous transformations with a mouse. These transformations may specify the position and orientation of figures within a scene or the joint transformations within the figures themselves. Jack combines this method of 3D input with a flexible and informative screen management facility to provide a user-friendly interface for manipulating three dimensional objects.