var Component=(()=>{var dr=Object.create;var D=Object.defineProperty;var mr=Object.getOwnPropertyDescriptor;var pr=Object.getOwnPropertyNames;var br=Object.getPrototypeOf,vr=Object.prototype.hasOwnProperty;var q=(l,i)=>()=>(i||l((i={exports:{}}).exports,i),i.exports),_r=(l,i)=>{for(var _ in i)D(l,_,{get:i[_],enumerable:!0})},xe=(l,i,_,y)=>{if(i&&typeof i=="object"||typeof i=="function")for(let g of pr(i))!vr.call(l,g)&&g!==_&&D(l,g,{get:()=>i[g],enumerable:!(y=mr(i,g))||y.enumerable});return l};var hr=(l,i,_)=>(_=l!=null?dr(br(l)):{},xe(i||!l||!l.__esModule?D(_,"default",{value:l,enumerable:!0}):_,l)),gr=l=>xe(D({},"__esModule",{value:!0}),l);var Re=q((Rr,Ce)=>{Ce.exports=React});var Ne=q(X=>{"use strict";(function(){"use strict";var l=Re(),i=Symbol.for("react.element"),_=Symbol.for("react.portal"),y=Symbol.for("react.fragment"),g=Symbol.for("react.strict_mode"),J=Symbol.for("react.profiler"),z=Symbol.for("react.provider"),Z=Symbol.for("react.context"),P=Symbol.for("react.forward_ref"),A=Symbol.for("react.suspense"),H=Symbol.for("react.suspense_list"),O=Symbol.for("react.memo"),I=Symbol.for("react.lazy"),Oe=Symbol.for("react.offscreen"),Q=Symbol.iterator,Fe="@@iterator";function ke(e){if(e===null||typeof e!="object")return null;var r=Q&&e[Q]||e[Fe];return typeof r=="function"?r:null}var x=l.__SECRET_INTERNALS_DO_NOT_USE_OR_YOU_WILL_BE_FIRED;function m(e){{for(var r=arguments.length,t=new Array(r>1?r-1:0),n=1;n=1&&d>=0&&o[f]!==p[d];)d--;for(;f>=1&&d>=0;f--,d--)if(o[f]!==p[d]){if(f!==1||d!==1)do if(f--,d--,d<0||o[f]!==p[d]){var v=` `+o[f].replace(" at new "," at ");return e.displayName&&v.includes("")&&(v=v.replace("",e.displayName)),typeof e=="function"&&k.set(e,v),v}while(f>=1&&d>=0);break}}}finally{Y=!1,G.current=s,$e(),Error.prepareStackTrace=u}var R=e?e.displayName||e.name:"",E=R?F(R):"";return typeof e=="function"&&k.set(e,E),E}function Ve(e,r,t){return le(e,!1)}function Le(e){var r=e.prototype;return!!(r&&r.isReactComponent)}function S(e,r,t){if(e==null)return"";if(typeof e=="function")return le(e,Le(e));if(typeof e=="string")return F(e);switch(e){case A:return F("Suspense");case H:return F("SuspenseList")}if(typeof e=="object")switch(e.$$typeof){case P:return Ve(e.render);case O:return S(e.type,r,t);case I:{var n=e,u=n._payload,s=n._init;try{return S(s(u),r,t)}catch{}}}return""}var T=Object.prototype.hasOwnProperty,fe={},de=x.ReactDebugCurrentFrame;function U(e){if(e){var r=e._owner,t=S(e.type,e._source,r?r.type:null);de.setExtraStackFrame(t)}else de.setExtraStackFrame(null)}function Ke(e,r,t,n,u){{var s=Function.call.bind(T);for(var a in e)if(s(e,a)){var o=void 0;try{if(typeof e[a]!="function"){var p=Error((n||"React class")+": "+t+" type `"+a+"` is invalid; it must be a function, usually from the `prop-types` package, but received `"+typeof e[a]+"`.This often happens because of typos such as `PropTypes.function` instead of `PropTypes.func`.");throw p.name="Invariant Violation",p}o=e[a](r,a,n,t,null,"SECRET_DO_NOT_PASS_THIS_OR_YOU_WILL_BE_FIRED")}catch(f){o=f}o&&!(o instanceof Error)&&(U(u),m("%s: type specification of %s `%s` is invalid; the type checker function must return `null` or an `Error` but returned a %s. You may have forgotten to pass an argument to the type checker creator (arrayOf, instanceOf, objectOf, oneOf, oneOfType, and shape all require an argument).",n||"React class",t,a,typeof o),U(null)),o instanceof Error&&!(o.message in fe)&&(fe[o.message]=!0,U(u),m("Failed %s type: %s",t,o.message),U(null))}}}var Be=Array.isArray;function $(e){return Be(e)}function qe(e){{var r=typeof Symbol=="function"&&Symbol.toStringTag,t=r&&e[Symbol.toStringTag]||e.constructor.name||"Object";return t}}function Xe(e){try{return me(e),!1}catch{return!0}}function me(e){return""+e}function pe(e){if(Xe(e))return m("The provided key is an unsupported type %s. This value must be coerced to a string before before using it here.",qe(e)),me(e)}var w=x.ReactCurrentOwner,Je={key:!0,ref:!0,__self:!0,__source:!0},be,ve,M;M={};function ze(e){if(T.call(e,"ref")){var r=Object.getOwnPropertyDescriptor(e,"ref").get;if(r&&r.isReactWarning)return!1}return e.ref!==void 0}function Ze(e){if(T.call(e,"key")){var r=Object.getOwnPropertyDescriptor(e,"key").get;if(r&&r.isReactWarning)return!1}return e.key!==void 0}function Qe(e,r){if(typeof e.ref=="string"&&w.current&&r&&w.current.stateNode!==r){var t=h(w.current.type);M[t]||(m('Component "%s" contains the string ref "%s". Support for string refs will be removed in a future major release. This case cannot be automatically converted to an arrow function. We ask you to manually fix this case by using useRef() or createRef() instead. Learn more about using refs safely here: https://reactjs.org/link/strict-mode-string-ref',h(w.current.type),e.ref),M[t]=!0)}}function er(e,r){{var t=function(){be||(be=!0,m("%s: `key` is not a prop. Trying to access it will result in `undefined` being returned. If you need to access the same value within the child component, you should pass it as a different prop. (https://reactjs.org/link/special-props)",r))};t.isReactWarning=!0,Object.defineProperty(e,"key",{get:t,configurable:!0})}}function rr(e,r){{var t=function(){ve||(ve=!0,m("%s: `ref` is not a prop. Trying to access it will result in `undefined` being returned. If you need to access the same value within the child component, you should pass it as a different prop. (https://reactjs.org/link/special-props)",r))};t.isReactWarning=!0,Object.defineProperty(e,"ref",{get:t,configurable:!0})}}var tr=function(e,r,t,n,u,s,a){var o={$$typeof:i,type:e,key:r,ref:t,props:a,_owner:s};return o._store={},Object.defineProperty(o._store,"validated",{configurable:!1,enumerable:!1,writable:!0,value:!1}),Object.defineProperty(o,"_self",{configurable:!1,enumerable:!1,writable:!1,value:n}),Object.defineProperty(o,"_source",{configurable:!1,enumerable:!1,writable:!1,value:u}),Object.freeze&&(Object.freeze(o.props),Object.freeze(o)),o};function nr(e,r,t,n,u){{var s,a={},o=null,p=null;t!==void 0&&(pe(t),o=""+t),Ze(r)&&(pe(r.key),o=""+r.key),ze(r)&&(p=r.ref,Qe(r,u));for(s in r)T.call(r,s)&&!Je.hasOwnProperty(s)&&(a[s]=r[s]);if(e&&e.defaultProps){var f=e.defaultProps;for(s in f)a[s]===void 0&&(a[s]=f[s])}if(o||p){var d=typeof e=="function"?e.displayName||e.name||"Unknown":e;o&&er(a,d),p&&rr(a,d)}return tr(e,o,p,u,n,w.current,a)}}var V=x.ReactCurrentOwner,_e=x.ReactDebugCurrentFrame;function C(e){if(e){var r=e._owner,t=S(e.type,e._source,r?r.type:null);_e.setExtraStackFrame(t)}else _e.setExtraStackFrame(null)}var L;L=!1;function K(e){return typeof e=="object"&&e!==null&&e.$$typeof===i}function he(){{if(V.current){var e=h(V.current.type);if(e)return` Check the render method of \``+e+"`."}return""}}function or(e){{if(e!==void 0){var r=e.fileName.replace(/^.*[\\\/]/,""),t=e.lineNumber;return` Check your code at `+r+":"+t+"."}return""}}var ge={};function ar(e){{var r=he();if(!r){var t=typeof e=="string"?e:e.displayName||e.name;t&&(r=` Check the top-level render call using <`+t+">.")}return r}}function ye(e,r){{if(!e._store||e._store.validated||e.key!=null)return;e._store.validated=!0;var t=ar(r);if(ge[t])return;ge[t]=!0;var n="";e&&e._owner&&e._owner!==V.current&&(n=" It was passed a child from "+h(e._owner.type)+"."),C(e),m('Each child in a list should have a unique "key" prop.%s%s See https://reactjs.org/link/warning-keys for more information.',t,n),C(null)}}function je(e,r){{if(typeof e!="object")return;if($(e))for(var t=0;t",o=" Did you accidentally export a JSX literal instead of a component?"):f=typeof e,m("React.jsx: type is invalid -- expected a string (for built-in components) or a class/function (for composite components) but got: %s.%s",f,o)}var d=nr(e,r,t,u,s);if(d==null)return d;if(a){var v=r.children;if(v!==void 0)if(n)if($(v)){for(var R=0;R0?"{key: someKey, "+b.join(": ..., ")+": ...}":"{key: someKey}";if(!Ee[E+B]){var lr=b.length>0?"{"+b.join(": ..., ")+": ...}":"{}";m(`A props object containing a "key" prop is being spread into JSX: let props = %s; <%s {...props} /> React keys must be passed directly to JSX without using spread: let props = %s; <%s key={someKey} {...props} />`,B,E,lr,E),Ee[E+B]=!0}}return e===y?ur(d):ir(d),d}}var sr=cr;X.Fragment=y,X.jsxDEV=sr})()});var we=q((Tr,Te)=>{"use strict";Te.exports=Ne()});var xr={};_r(xr,{default:()=>Er,frontmatter:()=>yr});var c=hr(we()),yr={title:"Arm IK Algorithm",description:'Implementing the "HumanUpper-Body Inverse Kinematics for Increased Embodiment in Consumer-Grade Virtual Reality" by Mathias Parger in Unreal Engine, with a few edge-case fixes.',date:"June 5, 2019",published:!0,image:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FUE4Editor_1dapP4xnbr.png"};function Pe(l){let i=Object.assign({p:"p",a:"a",img:"img"},l.components);return(0,c.jsxDEV)(c.Fragment,{children:[(0,c.jsxDEV)(i.p,{children:["Here is the ",(0,c.jsxDEV)(i.a,{href:"https://www.markussteinberger.net/papers/HumanUpperBodyIK.pdf",children:"White Paper"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:9,columnNumber:13},this)," I'm basing this off of."]},void 0,!0,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:9,columnNumber:1},this),` `,(0,c.jsxDEV)(i.p,{children:"It took a lot of iterations to get this working. I wasn't yet familiar with a lot of the trignometric Unreal Math nodes before delving in to this project. I also had to fix a few edge cases that the original paper didn't cover."},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:11,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FD2He23Js56.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:13,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:13,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2F1xjm19jYfj.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:14,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:14,columnNumber:1},this),` `,(0,c.jsxDEV)(i.p,{children:[(0,c.jsxDEV)(i.img,{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FUE4Editor_1dapP4xnbr.png",alt:""},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:16,columnNumber:1},this),` `,(0,c.jsxDEV)(i.img,{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FUE4Editor_isYQWo0CEs.png",alt:""},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:17,columnNumber:1},this),` `,(0,c.jsxDEV)(i.img,{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FUE4Editor_WhHdkg1ewn.png",alt:""},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:18,columnNumber:1},this)]},void 0,!0,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:16,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FrLqvrxAI1r.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:20,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:20,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2F552K9YDO6S.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:21,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:21,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FWbh2e2UZcA.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:22,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:22,columnNumber:1},this),` `,(0,c.jsxDEV)(i.p,{children:(0,c.jsxDEV)(i.img,{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FUE4Editor_Acuux4ObK8.png",alt:""},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:24,columnNumber:1},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:24,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FCqDgobdLra.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:26,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:26,columnNumber:1},this),` `,(0,c.jsxDEV)("video",{controls:!0,autoPlay:!0,loop:!0,muted:!0,children:(0,c.jsxDEV)("source",{src:"https://r2-portfolio.ronaldburns.dev/projects%2Farm-ik-algorithm%2FFTUqORJL9B.mp4"},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:27,columnNumber:37},this)},void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:27,columnNumber:1},this)]},void 0,!0,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx",lineNumber:1,columnNumber:1},this)}function jr(l={}){let{wrapper:i}=l.components||{};return i?(0,c.jsxDEV)(i,Object.assign({},l,{children:(0,c.jsxDEV)(Pe,l,void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx"},this)}),void 0,!1,{fileName:"C:\\Users\\rojo8\\GitHub\\portfolio\\content\\projects\\_mdx_bundler_entry_point-7c17ca12-a950-4c80-b0cf-72bdcd6f6237.mdx"},this):Pe(l)}var Er=jr;return gr(xr);})(); /*! Bundled license information: react/cjs/react-jsx-dev-runtime.development.js: (** * @license React * react-jsx-dev-runtime.development.js * * Copyright (c) Facebook, Inc. and its affiliates. * * This source code is licensed under the MIT license found in the * LICENSE file in the root directory of this source tree. *) */ ;return Component;