IK solver - can derrive joint orientations that result in end effectors being
placed at target locations.
Monotonic Cubic Interpolation - Animations smoothly interpolate between keyframes
with C1 continuity (first derivative continuous). Does not overshoot
points allowing for artistic control.
Sphere Cube Retargeting - Can retarget from any point onto nearby props. This data can be passed to IK
solver for smooth contact with an arbitrary ground plane. Support for global
point latching.
Note: Collisions are only run for the tips of each limb, elbows etc can still clip into objects.
Smooth Parametric Animations - Code provides support for dynamically modifying
keyframes in relation to game physics/events (aka step direction)
Omni-Directional Rigidbody locomotion - YOU CAN WALK ON WALLS. Seriously though, this project
implaments rigidy body physics (serial collision handling), and has a gridded structure
for pruning search.
Note: The size of the grid is not well tuned, and some features (regridding) are not tested.
