I have almost finished physics and nowI must realize an inverse kinematics in my engine. Our graphycs and animation system is based on Collada. So, I we don't use HavokAnimation. On every step of animation every animation track is updated and on the render step every graphycs animated node update it's transformation matrix from animation tracks.
Maybe someone knows what is the easiest way to do inverse kinematics in such system.
Can someone explain how to realize inverse kinematics not using HavokAnimation tracks, skeletals etc..., but maybe onlyhkaFootPlacementIkSolver for example.
I understand, first is animation, then out inverse kinematics system will only correc that matrixes.
I suggested to add ragdoll to the physics world and thenmoving it's parts, along with animation. But I think this is wrong solution of the problem.