IK in Ragdoll

[motherd]

I am currently using the ragdoll feature of Jolt Physics and would like to implement an IK system, such as "making the arm point towards a target." Does anyone know of a good approach for this?

I tried an implementation where I continuously applied forces using AddImpulse on a Jolt.Body to move the fingertip bone towards the IK target. While the fingertip bone does move to the target, the other bones linked to it break the positional constraints of SixDOFConstraintSettings and fly off in all directions.

If anyone has a solution or advice, I would appreciate your help.

[jrouwe]

Usually you pick one of these:

1. Use constraints with motors, drive the motors to the desired pose using e.g. Ragdoll::DriveToPoseUsingMotors or directly on the constraint
2. Use Body::MoveKinematic or Ragdoll::DriveToPoseUsingKinematics to move a body to an exact location (note that the body doesn't actually need to be kinematic, you're setting velocities to reach the desired pose)

[motherd]

Thank you for your advice.
I was able to achieve the desired behavior using Body::MoveKinematic, so I plan to proceed with this approach.