In this chapter, you implemented CCD and FABRIK IK solvers. Both solvers can solve an IK chain, but they converge differently. Which algorithm works better is very much context-dependent.
You also learned how constraints can be used to limit the range of motion for a specific joint. With the right constraints in place, an IK system modifies the current animation so that it interacts with the environment. You explored how to achieve this in the feet grounding section of this chapter.
In the downloadable content for this book, there are 4 samples for this chapter.
Sample00 contains the code up to this point.
Sample01 demonstrates how a CCD solver can be used, and
Sample02 demonstrates how a FABRIK solver can be used.
Sample03 demonstrates foot clamping and ground alignment for a character walking along a path.
In the next chapter, you will learn how dual quaternions can be used for skinning. Dual quaternion skinning better maintains the volume of a mesh than linear...