8d7a94389a
I don't already know how the fuck it works, but it is. A bit slow currently, but hope to improve it soon. The current limitations: 1. No constraints. At all. 2. Used simplest CCD algorithm, I just can't believe in jacobian construction from code. 3. Slow to get to target. |
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| .. | ||
| config.py | ||
| ik.cpp | ||
| ik.h | ||
| register_types.cpp | ||
| register_types.h | ||
| SCsub | ||