Fabrik inverse kinematics. A very small and flexible implementation of the Fabrik algorithm. Useful for animation, robotics or other optimization problems. This module is written in python.

fabrik.py : fabrik class,it resolve unconstrained ik single chain.It could be 2D,3D or nD init: input ik init position and marginOfError. distance: calculate distance between two points Compute: input new end point and get fabrik result. ComputeDiff: input new end point's difference and get fabrik result. calAngle: get current angles. isReachable: check the result is possible.

test.py: It's a demo. construct points array with two way, then fabrik ,print the result

dog.py dog's one leg's calculate demo get the result angles array

dog4.py dog's 4 legs' calculate demo get the result array