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Forward and inverse kinematics

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ryt    294

Does someone know any good tutorials about forward and inverse kinematics, that is skeletal animation ?

I would like the tutorial to be in a math form so that it explains coordinate systems, matrices (quaternions) and inverses.


I have been trying to search the internet but with no luck. All I could find are some articles about general workings or with code examples but with no math involved.

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