Calculating self intersections in inverse kinematics…
You can get a really great visual understanding of this with the demos by @gkjohnson here… GitHub - gkjohnson/closed-chain-ik-js: A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques
@manthrax that’s a beautiful demo 