NotesProcedural locomotion for Three.js
First prototype: legs with IK
The starting point: legs solved with two-bone IK and feet that stay planted.
The first prototype of what would become the library: a human character loaded in Three.js (with WebGPU), its legs solved with two-bone IK and a calibration step that measures each leg's chain.
The basic pieces of the gait were already there: a coordinator that decides which foot steps, the trajectory of the foot in the air and a lock that keeps the planted foot from sliding.