ABSTRACT
During SIGGRAPH 2008, version 1.5 of the COLLADA specification was introduced [Khronos Group 08], adding features from the CAD and GIS worlds such as inverse kinematics (IK), boundary representations (B-Rep), geographic location, and mathematical representation of constraints using MathML descriptive language [W3C 94a]. Currently, the 1.4.x format is the format supported by most applications, while 1.5 support is limited to applications in the computer-aided design space. Versions 1.4.x and 1.5.x exist and are maintained in parallel. This chapter uses version 1.4.1 of the specification, although everything is applicable to either version of the specification.
