Figure 1
Creating and solving a basic 2D chain. (a) shows the initial configuration of the chain and (b) its solved state. The yellow square represents the chain’s target location.
Figure 2
The Caliko library classes and package structure.
Figure 3
IK Chain solve duration in milliseconds vs. number of bones per chain as executed on an Intel i7-3610QM CPU. All chains for each sequence used the exact same target locations. As can be seen, constraints do not strongly affect performance. Chains with 1,000 bones can be solved in approximately 16ms (allowing for 60 updates per second). All chains were solved with the default acceptable solve distance of 0.1f and using the default of up to 20 iterations of the FABRIK algorithm per solve attempt.