Hmm. This did not appear to post, so I's will try again. This is just the
macro file. I will post a commented version when my hand stops hurting, as
well as a sample scene file.

See http://freespace.virgin.net/hugo.elias/models/m_ik2.htm for an
explanation of the idea. Much thanks to Hugo.

-s

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Download 'inverse_kinematics.inc.txt' (6 KB)