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Inverse Kinematics

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Can't say that I know of a specific tutorial that I'd recommend, but you may want to search on CCD (Cyclic Coordinate Descent), which is a relatively straightforward technique for solving IK. I'd definitely start out looking for something basic along those lines to start with. Not sure you'll find a tutorial that happens to have an OpenGL demo to go with it, but maybe. (Chris Hecker has some lecture notes at his website, Chris Hecker's Website, but it isn't necessarily formatted as a step-through tutorial and gets into some advanced ideas/problems....does make for good reading as long as you aren't looking to start from scratch and use it as your starting point to go implement something.)

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