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Can someone please explain the idea of CCD Inverse Kinematics?

Let's say I have a chain like this....

(Root) (link 1) (link 2) (link 3) (link 4) (end )

Then I want to point the end towards a Target. What's the process?

Do I do something like this...

point at end
- rotate point towards target
- point = point->Parent();


I tried looking at some examples online, but I don't get how rotating from the end would get you the end result. Also, all the examples seem to figure out the end product rotations in 1 frame, as opposed to a game where you would want to continuously rotate 60 fps, or such.

Any visual help on this works would be wonderful for me.


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You don't rotate each joint to point to the target, you make an invisible line from the target to the current bone, then rotate the current bone enough so that the end bone is now touching that invisible line.


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