I am looking for some references on Spline Ik and Fullbody Ik. I found tons of good material on basic Ik solvers like Jacobian methods, CCD, analytical and particle methods, but I failed to find anything about these two topics. I must assume I lost my Google Fu
For Spline Ik my understanding is that your are given a bunch of joint pivots and find a curve through all these points. Then while moving the spline control points you reconstruct the bone chain. There are some tricky details for the twist.
Fullbody Ik seems to combine different kinds of Ik solvers (e.g. spline solver for the spine, and maybe analytical methods for arms, etc) and then solve those in some hierarchical way with constraints between the Ik handles.
Any information is welcome! Thanks!