A C/SDL Inverse Kinematics demo. You are going to need SDL2 if you want to compile the source file. The program creates a window for drawing and is interactive. Once the program starts you can click to add joints to the system. Pressing the key 'e' toggles edit mode; when you are not on edit mode the mouse coordinates act as a target for the system to reach. You can clear the screen and create a new system by pressing the key 'c'.