Inverse Kinematics 1: Jacobian Solver

Detailed guide to making IK systems: https://github.com/SpehleonLP/IK-Guide
Procedural sound effects for games: https://github.com/pdJeeves/Chiptune-...
Animate Full body IK: https://spehleon.gumroad.com/l/ylxsd

Music Used:    / lifaundi ost  

Chapters:
00:00 - Intro
00:26 - About The Solver
00:44 - What is the Jacobian Matrix, J?
01:43 - What is the Jacobian Transpose, JT?
02:09 - The Transpose Solver:
02:16 - Computing JT
03:43 - Multiplying JT⋅e
04:12 - The Solver
04:44 - Dimensional Analysis
05:54 - The Damped Least Squares (DLS) Solver:
06:11 - Dimensional Analysis
06:43 - Computing J⋅JT
07:28 - Conditioning The Matrix