What we'll cover in this chapter:

  • Reaching and dragging single segments

  • Dragging multiple segments

  • Reaching with multiple segments

  • Using the standard inverse kinematics method

  • Important formulas in this chapter

In Chapter 13, I covered some of the basics of kinematics and the difference between inverse and forward kinematics. That chapter went into forward kinematics. Now, you're ready for its close relative, inverse kinematics. The movements involved are dragging and reaching.

As with the forward kinematics examples, the examples in this chapter build systems from individual segments. You'll begin with single segments, and then move on to multiple segments. First, I'll show you the simplest method ...

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