URL details: www.ryanjuckett.com/programming/analytic-two-bone-ik-in-2d/

URL title: Analytic Two-Bone IK in 2D - RyanJuckett.com
URL description: Due to their complexity, inverse kinematics (IK) problems are often solved with iterative solutions. While iterative solutions can handle different IK poblems with a single algorithm, they can also become computationally expensive. If a specific IK problem needs to be computed often, it is worth considering an analytic solution.If we limit the problem to a two bone chain in a two-dimensions, we can derive the anaytic solution without much complexity. This will generally be more efficient than its iterative
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