by Adam Lake

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Chapter 2.3. Non-Iterative, Closed-Form, Inverse Kinematic Chain Solver (NCF IK)

Philip Taylor

Inverse kinematics (IK) has many uses in games. A primary use is to control the limbs of characters—to fit the pose of the character to the terrain it is standing on or to pin a foot while walking to reduce foot sliding, as described in [Forsyth04]. For many characters, a simple two-bone solver is all that is required because, as in the case of human characters, there are only two major bones in a chain that need to be modified.

The problem of solving a two-bone chain is often reduced to a two-dimensional problem by constraining the solution to lie on a plane, usually defined by the root of the chain, the IK goal, and an up-vector ...

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