"Reusser" wrote:
> My idea was actually due to trial and error before I saw
> line 84, but it still fixed the error I had when I bent the
> leg too far back.  When the leg was too far back, the whole
> leg would flip over or give me an error if the ankle and the
> hip had the same y-coord.:  shin -> \/ <-thigh.

That's because the KneeDirection have to be adjusted to fit the leg.
If the leg is like this:  shin -> \/ <-thigh.
Then the knee points downwards and thus the KneeDirection must point
downwards too. The code adjusts the KneeDirection pretty much, but it can't
read your mind - you have to tell it roughly in which direction you want the
knee to point! :)

With your method the KneeDirection is calculated automatically, but then you
just have to specify a HipAxis instead. It's not a better or worse solution,
just a different approach. Personally I find it more intuitive to specify
the KneeDirection than to specify the HipAxis.

Rune
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