question: given two telescoping arms and a pivot between them, is there
a way to fix the ends of the arms and only move the pivot?
[]-------0----[]
[]----0-------[]
[] --[]
\ --
0-
[]-- []
-- /
-0
etc.
where [] are fixed and 0 is the pivot and - or \ is a telescoping arm
also is there a way to make circular IK relationships (ie a triangle or
a square with one fixed point; or a triangle where one arm is longer
than the triangle?)
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