R6 Inverse Kinematics

[robert_stevey (Robert)]

I see the what you’re aiming for with the leg IK, sadly I’m unsure on how to change the leg IK algorithm to fit your needs. Maybe the R6 IK algorithm in this post might help?

R6 rig inverse kinematics

Been a while since I worked with R6 but I remember now that it has some funky rotations attached to the joints. Because of those rotations they end up throwing off the shoulder CF for the Ik solve. The IK solve is fine though, but since it’s R6 is can be simplified a little more. local Ik = {} function Ik:solveIK(originCF, targetPos, armLength) local localized = originCF:pointToObjectSpace(targetPos) local localizedUnit = localized.unit local l3 = localized.magnitude local axis = Vect…