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Game Engine Architecture, Second Edition, 2nd Edition by Jason Gregory

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11.11.5.3 Grabbing and Hand IK

Even after using an attachment to connect two objects, we sometimes find that the alignment does not look exactly right in-game. For example, a character might be holding a rifle in her right hand, with her left hand supporting the stock. As the character aims the weapon in various directions, we may notice that the left hand no longer aligns properly with the stock at certain aim angles. This kind of joint misalignment is caused by LERP blending. Even if the joints in question are aligned perfectly in clip A and in clip B, LERP blending does not guarantee that those joints will be in alignment when A and B are blended together.

One solution to this problem is to use inverse kinematics (IK) to correct the position ...

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