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There are different IK techniques like FABRIK, CCD, Jacobian inverse technique etc. Does anybody know which one Blender's legacy solver uses?

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  • $\begingroup$ Which one do you mean by "legacy solver", the one called "Standard"? $\endgroup$ – rjg Aug 5 at 16:17
  • $\begingroup$ @rjg Yes the standard one. $\endgroup$ – Lenny White Aug 5 at 19:23
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TL;DR The legacy solver uses Jacobian IK.

I'm not very familiar with the IK implementation, but here is what I've found out from Blender's source.

source/blender/ikplugin/intern/iksolver_plugin.c contains (parts of) the code that make up the legacy solver. In this code iksolver_execute_tree() calls execute_posetree() which creates the IK solver using IK_CreateSolver(). This results in the creation of instance of IK_QSolver. This object contains an instance of IK_QJacobianSolve which is used when execute_posetree() calls IK_Solve and passes IK_QSolver as argument.

This means the solver uses Jacobian IK. The actual implementation of the solver can be found in intern/iksolver/intern/IK_QJacobianSolver.cpp.

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