"Greg M. Johnson" wrote:
> I, too, preferred to set up a system where I kept my original
> "FK construction",  used IK to program the position of the
> joints, then back-calculated what FK would allow these IK
> coordinates.  It's more complex to code this mechanism, but
> the simple FK construction is inherently pleasing to me.

But you cease to give me a rational reason, and so far the transformation
method has proven to be able to do the same and much more... :)

Rune
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