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An example showing a system to apply inverse kinematics to the UE4 Default hand (UE4.21).
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UE4.21 Finger Inverse Kinematics example

This system creates three linetraces per finger that determine if the fingers can interact with the terrain around it.

Here's a video of what it looks like: https://www.youtube.com/watch?v=OogOw5lfDuE

This is a very basic and unrefined system, but it's very performance friendly. Feel free to take a look and adapt it for any purpose. I put a article on Gamasutra which has a detailed discription on how it works: http://gamasutra.com/blogs/TomKemna/20190124/335112/Inverse_kinematics_for_fingers_explanation_and_example_in_Unreal_Engine_421.php

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