• I'm attempting to modify the InverseTransform and Transform functions to fit a new kinematics class, but I'm having a bit of trouble following the calculations done in the InverseTransform function. Is there any reference material you have that explains these calculations specifically the way they are done here? I have worked through delta inverse kinematics before, but this seems like a different method than I have used. None of the papers I have found match up exactly either. Thanks!

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    I worked out the maths of the Inverse Transform function by solving the simultaneous equations, having at the time failed to find a solution on the Internet. That was before I found that the magic search term was "trilateration". There are lots of ways of doing it, and I expect man of them are more resistant to rounding error than the method I devised.

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