Godot Engine – Multi-platform 2D and 3D game engine https://godotengine.org https://git.neuromancer.sk/godot.git/atom/modules/ik/SCsub?h=2.1-stable 2016-03-31T09:43:00Z 2016-03-31T09:43:00Z Sergey Lapin 2016-03-29T19:52:31Z urn:sha1:8d7a94389aeefb805fb2840c6a69af95f563f89b 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.