<?xml version="1.0" encoding="UTF-8" ?>
<class name="CCDIK3D" inherits="IterateIK3D" api_type="core" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
Rotation based cyclic coordinate descent inverse kinematics solver.
</brief_description>
<description>
[CCDIK3D] is rotation based IK, enabling fast and effective tracking even with large joint rotations. It's especially suitable for chains with limitations, providing smoother and more stable target tracking compared to [FABRIK3D].
The resulting twist around the forward vector will always be kept from the previous pose.
[b]Note:[/b] When the target is close to the root, it can cause unnatural movement, including joint flips and oscillations.
</description>
<tutorials>
</tutorials>
</class>