In order to convert the points to motor6d joints one would have to first understand the motor6d system which is what I’m trying to do for my IK system inspired by your IK solver and this other thread by LMF_Hutch where I was able to understand the motor6d system.
Here is the mind-boggling schematic that the other thread made by realizing the motor joint system with the C0’s and the C1’s and how it is relative to the p0 part and the p1 part:
So here is a text based description based on how it is structured:
Motor6d Properties of the joint between the hip and the upper leg:
P0 Part: Hip
P1 Part: UpperLeg
C0 vector from center of the hip (part P0) going towards to where the rig joint was placed
C1 vector is from the center the upper leg (part P1) to where the rig joint was placed
Using this information we can obtain the position of the rig’s joints relative to the placement in the world. The math would be like World —> Hip center Position —> Joint C0 which in script terms would be like hip.Position + hipJoint.C0.p
In the end, by obtaining the vectors of the joints to joints (ex: hip joint to knee joint) I was able to obtain this janky leg which sorta works if the target position is directly in front of the hip.
Edit: here is my module code for the fabrik algorithm where I basically did the steps described the EgoMoose for forwards and backwards manually by hand.
Edit 2: module code is removed due to having errors regarding vector math sry
Hope this helps.
BTW love pwn incrypt I still have your vip tshirt