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Added a * operator compute from to -> adds safeties around shortestArc conjugate -> reverses the xyz of the quaternion IK Solver commit Added: IKChain struct to tsshape commands to tsshapeconstruct to create and setup ikchains ik solvers -> ccd and fabrik, these are in their own file tsIKSolver TODO: there needs to be some tooling added to the shape editor for this |
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