Awesome

ikccd

IK Solver using Cyclic Coordinate Descent made for Unity3D

[Now runs with animations on top as well - use iksolveranim.cs instead of the iksolver.cs script to do this]

YouTube demo: https://youtu.be/7riiUmo-1fQ

How to run the solver

• Run the IKSolve scene and move around the Target GameObject.

• Locate the IKSolver GameObject and add new joints to the IKSolver script as necessary, with Root being the first element and End-joint being the last.

• The solver also works with 3D now, so don't be afraid (I'm not) to go beyond the safezone that is the xy Plane.

ToDos

• Adding constraint-handlers
• Testing with actual rigs and not just simple sphere+cylinder prefabs. (Works with an actual rig)
• Testing the usage of multiple IK Solvers in a scene with a fully connected rig. (Works with multiple solver script instances in the same scene with a fully rigged mesh)
• Testing the above with Constraints once the constraint-handler is built.