"Greg M. Johnson" wrote:
> You might be right in that it's not better for everyone starting
> from scratch, but at least out of laziness with my current
> creation, it takes a lot less work, in that I set up my system as fk.

Ah, ok.

Well, pure IK can do anything IK+FK can do, but if a character is originally
designed for FK it's sometimes easier to use IK+FK. Pure IK can easily
handle any object, not just cylinders, as you can see in the file I posted
in povray.binaries.scene-files a few days ago.

> On the other hand,  note the bend in my foot.  The IK is based on the
> ankle.  Is there an easy IK-pure solution based on such a complicated
> foot?

It depends on what you call IK. There are solutions that doesn't require
calculations of any angles, but use matrixes to move the different parts.
It's all about how you want to control your character. How are the feet of
your character currently controlled? Do you specify points? Vectors? Angles?

Greetings,

Rune
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