Hello!

Recently, I’ve tried to make a hard-coded Inverse Kinematics script that only bends in one direction, like kneeling on the ground.

Keep in mind that the rig is R6, so its a bit harder to do this ` :/`

So far, I’ve tried to take the distance between two marked attachments parented to the torso and tried clamping the distance between 0 and 1, and then subtracting 1 by the variable. THEN multiplying that by 90 so that the knees start bending. It worked, but I can’t actually get the leg to look at the 2nd attachment.

It looks like this:

```
local ShowIKparts = true
local Character = script.Parent
local Torso = Character.Torso
local LeftLeg = Torso['Left Hip']
local LeftStart = LeftLeg.C0
local Left_FROM_att = Torso.IKleftTop
local Left_TO_att = Torso.IKleftBottom
local Left_MIDPOINT = (Left_FROM_att.Position+Left_TO_att.Position)/2
local RightLeg = Torso['Right Hip']
local RightStart = RightLeg.C0
local Right_FROM_att = Torso.IKrightTop
local Right_TO_att = Torso.IKrightBottom
local Right_MIDPOINT = (Right_FROM_att.Position+Right_TO_att.Position)/2
local leftDist = (Left_FROM_att.Position - Left_TO_att.Position).Magnitude
local rightDist = (Right_FROM_att.Position - Right_TO_att.Position).Magnitude
coroutine.resume(coroutine.create(function()
while wait() do
Right_TO_att.Position = Vector3.new(0.5, (math.sin(tick()*3))-2, 0)
Left_TO_att.Position = Vector3.new(-0.5, (math.sin(tick()*3))-2, 0)
end
end))
local IKlimits = {
AngleLimit = 70;
BendLimit = 0;
}
local RightOffset = (RightLeg.C0:Inverse()*CFrame.new(0.5,0,0)) * Right_FROM_att.CFrame
IKlimits.AngleLimit/=2
while wait() do
leftDist = (Left_TO_att.Position - Left_FROM_att.Position).Magnitude
rightDist = (Right_TO_att.Position - Right_FROM_att.Position).Magnitude
local PushLength_R = -(2-math.clamp(rightDist-IKlimits.BendLimit, 0, 2))*IKlimits.AngleLimit
local PushLength_L = (2-math.clamp(leftDist-IKlimits.BendLimit, 0, 2))*IKlimits.AngleLimit
local LeftIKcalc = ((LeftStart * CFrame.Angles(math.rad(0),math.rad(0),math.rad(PushLength_L)) * Left_TO_att.CFrame))
local RightIKcalc = ((RightStart * CFrame.Angles(math.rad(0),math.rad(0),math.rad(PushLength_R)) * Right_TO_att.CFrame))
RightLeg.C0 = RightIKcalc * CFrame.new(-0.5,3,0)
LeftLeg.C0 = LeftIKcalc * CFrame.new(0.5,3,0)
end
```

The result comes out to this:

This is what happens when I try to move it via X and Z:

If you can help me find a way to get the Leg point towards a point AND start bending at a certain distance, I would be super thankful.