Go to my site and download the RoboBlast demo. It comes with full source. Note however that I still need to update the download (new demo isn''t finished yet). In the old one, there''s a bug in the IK system. It uses the system with quaternions as described on darwin3d.com. I got soooo very frustrated by the bug that I threw it all out and implemented Huge Elias'' method. (it''s slower but it works flawless). Kudos to you if you can find the bug in my old method. It *should* work but it doesn''t always 
Keep an eye on the news page to see when the new demo is up.
Sander Maréchal
[Lone Wolves Game Development][RoboBlast][Articles][GD Emporium][Webdesign][E-mail]
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