ikccd
IK Solver using Cyclic Coordinate Descent made for Unity3D
[Now runs with animations on top as well - use iksolveranim.cs instead of the iksolver.cs script to do this]
YouTube demo: https://youtu.be/7riiUmo-1fQ
How to run the solver
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Run the IKSolve scene and move around the Target GameObject.
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Locate the IKSolver GameObject and add new joints to the IKSolver script as necessary, with Root being the first element and End-joint being the last.
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The solver also works with 3D now, so don't be afraid (I'm not) to go beyond the safezone that is the xy Plane.
ToDos
- Adding constraint-handlers
Testing with actual rigs and not just simple sphere+cylinder prefabs.(Works with an actual rig)Testing the usage of multiple IK Solvers in a scene with a fully connected rig.(Works with multiple solver script instances in the same scene with a fully rigged mesh)- Testing the above with Constraints once the constraint-handler is built.