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Forward & Inverse Kinematics

Animated skeleton joints based on BVH motion capture data using various kinematics algorithms, including:

- Forward kinematics
- Limb-based inverse kinematics for 3-joint chains
- Cyclic Coordinate Descent (CCD) inverse kinematics
- Foot inverse kinematics, allowing a character in Unity to walk along uneven terrain towards a guide point with proper feet alignment and terrain collisions

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