SketchpunkLabs | Ossos : IK Rigs & Fullbody IK @SketchpunkLabs | Uploaded 2 years ago | Updated 3 hours ago
Official Open Source Project
https://github.com/sketchpunklabs/ossos

Things will get prototyped for the Oito Project before being refactored for the opensource community for uses.
https://github.com/sketchpunk/oito/tree/main/packages/ikrig

If interested on Verlet Intergration, here's the first of 4 videos on the subject by CodingMath.
https://www.youtube.com/watch?v=3HjO_RGIjCU

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