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History-Independent (HI) IK Solver 447
Another good use for overlapping HI IK chains is
to keep the goals at the bottom of the hierarchy
firmly rooted in place. In the case of the leg
example, the ankle, ball and toe of the foot would
notmoveuntiltheupperportionofthehierarchy
had reached its f ull stretch.
Overlapping chains make the toe stick to the ground
Don’t t ry to overlap chains with different k inds of
IK solvers or you might get unpredictable results.