Welcome to Final IK, the ultimate collection of inverse kinematics solutions for Unity.

Final IK Contains

Full Body IK system for biped characters
VRIK - High speed full body solver dedicated to Virtual Reality avatars.
Baker - tool for baking your IK procedures, animation adjustments, Timeline and Mecanim layers to Humanoid, Generic or Legacy animation clips
Biped IK - alternate to Unity's built-in Avatar IK system that provides more flexibility and works in Unity Free with the same API
CCD (Cyclic Coordinate Descent) IK
Multi-effector FABRIK (Forward and Backward Reaching IK)
LookAt IK - look-at solver for bipeds
Aim IK - for aiming weapons, looking at objects
Limb IK - 3 joint solver for arms and legs
Arm IK - 4 joint solver for the arms
Leg IK - 4 joint solver for the legs
Rotation constraints - Angular, Polygonal (Reach Cone), Spline and Hinge rotation limits that work with CCD, FABRIK and Aim solvers
Interaction System - simple tool for creating procedural IK interactions
Grounder - automatic vertical foot placement and alignment correction system
CCDIKJ, AimIKJ - Multithreaded solvers based on AnimationJobs

Technical Overview

Full source code included
Does NOT require Unity Pro
Does NOT require, but works with Mecanim
Written in C#, all scripts are namespaced under RootMotion and RootMotion.FinalIK to avoid any naming conflicts with Your existing assets
Tested on Standalone, Web Player, IOS, Android and VR
Custom undoable inspectors and scene view handles
Warning system to safeguard from null references and invalid setups (will not overflow your console with warnings)
Optimized for great performance
Modular, easily extendable. Compose your own custom character rigs
User manual, HTML documentation, fully documented code, YouTube video tutorials
Demo scenes and example scripts for all components
Tested on a wide range of characters