Forward kinematics implementation, written in C++, rendered using OpenGL. World-space positions and orientations of each joint in the skeleton are computed given local joint transformations sourced from BVH animation files.

Limb-based inverse kinematics implementation. Given a desired end effector position, rotation angles for the start and middle joints are computed and applied.

Cyclic Coordinate Descent (CCD) inverse kinematics implementation. Given a desired end effector position, joint rotations are iteratively adjusted along the joint chain to move the end effector toward the target. Max 5 iterations, with joint weights 0.15.