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Figure 38.10 shows the end tube segment collapsing within the spyglass.
FIGURE 38.10
The HD IK solver is used to control the spyglass.

IK Limb solver Chapter 38: Working with Inverse Kinematics
The IK Limb solver was specifically created to work with limbs. It is used on chains of three bones such as a
hip, upper leg, and lower leg. Only two of the bones in the chain actually move. The goal for these three
joints is located at the pivot point for the third bone. This solver is ideal for game character rigging.
The way this solver works is that it considers the first joint as being a spherical joint that can rotate along
three different axes, like a hip or shoulder joint. The second joint can bend only in one direction, such as
an elbow or knee joint.
The rollouts and controls for the IK Limb solver are exactly the same as those used for the HI solver covered
earlier in this chapter.

Tutorial: Animating a spider’s leg with the IK Limb solver
As an example of the IK Limb solver, you should probably animate a limb, so I’ve created a simple spider
skeleton with not two limbs, but eight. I created this skeleton fairly quickly using four bones for the abdo-
men; then I created one limb and cloned it three times. Then I used the Bone Tools to connect the leg bones
to the abdomen bones, and finally I selected and mirrored the bones on all four legs to get the opposite legs.
The hardest part was naming all the bones.

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