Need more resources/info on making R6 inverse kinematics

I’m trying to write my own R6 IK module, but I’m not sure how to properly do it yet, I know it requires trigonometry (for footplanting and movement) but I need resources on how to make it work.

Why not try making use of IKControls and attachments, that should work with half the math needed for Trig.

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I’m using R6, stylistically.
Do you know how to use IKControls with that? Because I sure don’t.
(I also know trig already, so I have no need to dumb it down.)

Attachments. (aaaaadasdadaaaa)

Will try your solution out.
Thanks.

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