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I am trying to do some animations on characters with a variety of body plans. I am trying to make a system that uses IK for moving end effector positions (some of the time), and use the actual dynamics system for secondary motions and collision responses.

Ideally, I would like to have a system where I can smoothly blend between systems for any bone/limb.

Has anyone done anything like this?

Here are some ideas of making that happen:

  • Overwrite certain attributes of the dynamic bodies to impose my own constraints
  • Work out forces by myself to satisfy those constraint (although I am not sure my maths are up to it)
  • Strategic placement/movement/deletion/parameter tweaking of temporary joints

Does this sound feasible in any way? If so, are there any tips, or any pitfalls to avoid?

Cheers

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