DLS IK Solver Node
A damped least-squares IK AnimNode with axis-angle Jacobian error computation. Stable near singularities where CCD and FABRIK degrade, with per-chain damping control.
Technical notes →Animation systems R&D
Runtime animation tools, forged for production.
IK solvers, ragdoll stability, N‑dimensional blend spaces, and Maya↔Unreal pipeline tooling — built in C++ against real engine internals, shipped as drop‑in components.
live: damped least-squares IK · 6 bones · λ = 0.35 · move your cursor
Tools
Built where Unreal stops
Each tool targets a specific gap in the stock animation toolset — and each one ships with the engineering notes explaining how it works.
RBF Blend Space
N-dimensional blend spaces via radial basis function interpolation — past the 2D ceiling of Unreal's Delaunay-based blend space assets. Engine-portable core solver.
Technical notes →Ragdoll Stability Stack
Drop-in components for ragdoll lifecycle: state-machine driven blend in/out, impulse-based contact detection, rolling-velocity settle detection, and per-joint drives.
Technical notes →AnimForge WarpViz
Bidirectional Motion Warping visualization between Maya and Unreal. Warp targets are evaluated natively in-engine and returned to Maya as a transparent animation layer overlay.
Technical notes →The lab
Prani — an animation engine built to answer questions
Prani is a lightweight, multithreaded, ECS-based animation engine built from scratch — a research sandbox for iterating on IK, blending, and pose pipelines at compile times Unreal can't match. Algorithms are validated here first, then shipped as engine plugins.
Inside the lab- ECS core — EnTT registry with deferred structural changes at sync points
- Task parallelism — Intel TBB
parallel_foracross pose evaluation - Rendering — Raylib 6 with skeletal blending, composited into tooling UI
- Purpose-built — every subsystem exists to test an animation technique faster
Writing
Engineering notes, not marketing copy
Deep dives into engine internals, solver math, and the architecture decisions behind each tool.