The video is for creating a foot placement system, but I nevertheless spent a good portion talking about IK. This video is part of a devlog series but stands on it's own as a tutorial. If you need any help or have questions feel free to join my discord.

My IK Tutorial    • Learn Inverse Kinematics the Simple Way  

Discord   / discord  
Patreon   / benblodgett  

Rujik    / rujikthecomatose  

0:00 - Intro
0:22 - IK Function
0:46 - Local vs Global Space
1:22 - NaN Error
1:31 - Relevant Angle Summation
2:00 - Re-convert to Global Space For Drawing
2:18 - Foot Placement Method
3:41 - Drawbacks
4:20 - Hybrid Method
5:18 - Resources