### Full CCDIK Setup and Animation Example

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

This comprehensive example combines identifying Motor6D joints, creating the CCDIKController, and setting up continuous animation via Heartbeat.

```lua
--[[
    Testing with R15 Dummy
]]
local RunService = game:GetService("RunService")
local ReplicatedStorage = game:GetService("ReplicatedStorage")
local CCDIKController = require(ReplicatedStorage.Source.CCDIKController)

local dummy = workspace.Dummy
local leftTarget = workspace.newTarget

local dummyMotor6Ds = {}

local dummyDescendants = dummy:GetDescendants()
for _,descendant in pairs (dummyDescendants) do
    if descendant:IsA("Motor6D") then
        dummyMotor6Ds[descendant.Name] = descendant
    end
end

local upperLeg = dummyMotor6Ds["LeftHip"]
local knee = dummyMotor6Ds["LeftKnee"]
local foot = dummyMotor6Ds["LeftAnkle"]

local leftLeg = {upperLeg,knee,foot}

local leftLegController = CCDIKController.new(leftLeg)

RunService.Heartbeat:Connect(function()
    local goal = leftTarget.Position
    leftLegController:CCDIKIterateOnce(goal)
end)


```

--------------------------------

### Example Constraints Dictionary

Source: https://datlass.github.io/Rbx-CCDIK/API

An example of a constraints dictionary used with the CCDIKController, demonstrating how to specify constraint types and attachments for different body parts.

```lua
--Example with the Mech in the test place, not necessary to fill everything out
local constraints = {
    [upperLeg] = {
        ["ConstraintType"] = "BallSocketConstraint";
        ["UpperAngle"] = 25;
        ["AxisAttachment"] = "LeftHip";--Searches for "LeftHipAxisAttachment" in the part0 of the motor
    };
    [lowerLeg] = {
        ["ConstraintType"] = "Hinge";
        ["UpperAngle"] = 45;
        ["LowerAngle"] = -45;
    };
    [knee] = {
        ["ConstraintType"] = "Hinge";
        ["UpperAngle"] = 45;
        ["LowerAngle"] = -45;
    };
}
```

--------------------------------

### Setup Foot Placement System

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

Initialize the CCDIKController, set up the foot placement system by providing attachment names and RaycastParams. Ensure constraints are added similarly to previous steps for lifelike behavior.

```lua
local leftLegController = CCDIKController.new(fullLeg)
leftLegController:GetConstraints()

--Setting up the foot
local footParams = RaycastParams.new()
footParams.FilterDescendantsInstances = {mech}
local attachmentNames = {"A1","A2","A3"} -- names the part1 of the foot Motor6D
leftLegController:SetupFoot(attachmentNames,footParams)

```

--------------------------------

### Initialize CCDIKController and Get Constraints

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

Create a new CCDIKController instance with a table of leg parts and then call `GetConstraints()` to set up the necessary physics constraints.

```lua
local leftLeg = {upperLeg,knee,foot}
local leftLegController = CCDIKController.new(leftLeg)
leftLegController:GetConstraints()

```

--------------------------------

### Setup Rig Attachments for Custom Rigs

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

Use this function to automatically create and parent RigAttachment instances for Motor6D joints on custom rigs. Ensure the `rigModel` variable points to your model.

```lua
local rigModel = workspace.Dummy -- insert path to your own model
local function commandBarSetupRigAttachments(model)
    local modelDescendants = model:GetDescendants()
    for _,motor6D in pairs(modelDescendants) do
        if motor6D:IsA("Motor6D") then
            --In order to find the joint in world terms
            local motor6DName = motor6D.Name
            local AxisAttachment = Instance.new("Attachment")
            AxisAttachment.CFrame = motor6D.C0
            AxisAttachment.Name = motor6DName.."RigAttachment"
            AxisAttachment.Parent = motor6D.Part0

            local JointAttachment = Instance.new("Attachment")
            JointAttachment.CFrame = motor6D.C1
            JointAttachment.Name = motor6DName.."RigAttachment"
            JointAttachment.Parent = motor6D.Part1
        end
    end
end
commandBarSetupRigAttachments(rigModel)

```

--------------------------------

### Specify Constraint for Motor6D with Multiple Constraints

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

When a Motor6D's Part0 has multiple constraint instances, use `GetConstraintsFromMotor` to explicitly define which constraint to use. This example targets the 'LeftBallSocketConstraint' for the `upperLeg` Motor6D.

```lua
--API:
--CCDIKController:GetConstraintsFromMotor(motor : Motor6D ,constraintName : string)

--example:
local leftLeg = {upperLeg,knee,foot}
local leftLegController = CCDIKController.new(leftLeg)
leftLegController:GetConstraints()--set up everything first

--Then do the correction:
--Finds the "LeftBallSocketConstraint" in the lowertorso part0 of the upperLeg Motor6D
leftLegController:GetConstraintsFromMotor(upperLeg,"LeftBallSocketConstraint")

```

--------------------------------

### Get CCDIK Constraints

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

This function is used to retrieve constraints for the CCDIK controller, which are necessary for realistic limb movement. It currently supports Hinge and BallSocket constraints.

```lua
CCDIKController:GetConstraints()

```

--------------------------------

### SetupFoot(attachmentNameTable : table,raycastParams)

Source: https://datlass.github.io/Rbx-CCDIK/API

Sets up the foot attachment and raycast parameters for IK calculations.

```APIDOC
## SetupFoot(attachmentNameTable : table,raycastParams)

### Description
Sets up the foot attachment and raycast parameters for IK calculations.

### Parameters
* **attachmentNameTable** (table) - A table containing names of foot attachments.
* **raycastParams** (RaycastParams) - Raycast parameters for ground detection.

### Example
```lua
local raycastParams = RaycastParams.new()
raycastParams.FilterDescendantsInstances = {characterModel}
ccdikController:SetupFoot({"LeftFootAttachment", "RightFootAttachment"}, raycastParams)
```
```

--------------------------------

### Constructor: new(table Motor6DTable, dictionary Constraints)

Source: https://datlass.github.io/Rbx-CCDIK/API

Constructs the CCDIK Controller given a table of Motor6D Instances in order. The constraints can be manually inputted or automatically generated.

```APIDOC
## Constructor: new(table Motor6DTable, dictionary Constraints)

### Description
Constructs the CCDIK Controller given a table of Motor6D Instances in order.

### Parameters
* **Motor6DTable** (table) - A table of Motor6D instances in order.
* **Constraints** (dictionary) - A dictionary containing constraint information for each Motor6D.

### Example
```lua
local leftLegController = CCDIKController.new(Motor6DTable, Constraints)
```

### Constraints Dictionary Template
```lua
local constraintsTemplate = {
    [kneeJoint] = {
        ["ConstraintType"] = "Hinge";
        ["UpperAngle"] = 45; -- same as HingeConstraint [-180,180] degrees
        ["LowerAngle"] = -45;
        ["AxisAttachment"] = nil; --Automatically tries to find first child an attachment with the part0Motor6dName..AxisAttachment
        ["JointAttachment"] = nil; --or you can manually input it
    };
    [hipJoint] = {
        ["ConstraintType"] = "BallSocketConstraint";
        ["UpperAngle"] = 45; -- same as BallSocketConstraint [-180,180] degrees
        ["TwistLimitsEnabled"] = false ; -- yep same as roblox constraints
        ["TwistUpperAngle"] = 45;
        ["TwistLowerAngle"] = -45;
        ["AxisAttachment"] = nil; --Automatically tries to find first child during .new() setup but you can manually input it
        ["JointAttachment"] = nil;
    };
}
```
```

--------------------------------

### Create CCDIK Controller Instance

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

This snippet shows how to create a CCDIKController instance by providing an ordered table of Motor6D joints.

```lua
--Don't forget to require the module
local ReplicatedStorage = game:GetService("ReplicatedStorage")
local CCDIKController = require(ReplicatedStorage.Source.CCDIKController)

local leftLeg = {upperLeg,knee,foot} --Order matters here
local leftLegController = CCDIKController.new(leftLeg)

```

--------------------------------

### Construct CCDIKController

Source: https://datlass.github.io/Rbx-CCDIK/API

Instantiate the CCDIKController with a table of Motor6D instances in order. The Constraints dictionary can be manually inputted or generated using helper functions.

```lua
local leftLegController = CCDIKController.new(Motor6DTable,Constraints)
```

--------------------------------

### CCDIKIterateOnce(goalPosition,tolerance,step)

Source: https://datlass.github.io/Rbx-CCDIK/API

Performs a single iteration of the CCDIK algorithm to move towards a goal position.

```APIDOC
## CCDIKIterateOnce(goalPosition,tolerance,step)

### Description
Performs a single iteration of the CCDIK algorithm to move towards a goal position.

### Parameters
* **goalPosition** (Vector3) - The target position to reach.
* **tolerance** (number) - The acceptable error margin.
* **step** (number) - The step size for the iteration.

### Example
```lua
ccdikController:CCDIKIterateOnce(Vector3.new(0, 10, 0), 0.1, 0.5)
```
```

--------------------------------

### InitDragDebug()

Source: https://datlass.github.io/Rbx-CCDIK/API

Initializes the drag debugging functionality for visualizing IK adjustments.

```APIDOC
## InitDragDebug()

### Description
Initializes the drag debugging functionality for visualizing IK adjustments.

### Example
```lua
ccdikController:InitDragDebug()
```
```

--------------------------------

### Iterate CCDIK Until Goal Reached

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

This function call attempts to move the rig's limb directly to the goal position.

```lua
local goal = leftTarget.Position
leftLegController:CCDIKIterateUntil(goal)

```

--------------------------------

### GetConstraintsFromMotor(motor : Motor6D ,constraintName : string)

Source: https://datlass.github.io/Rbx-CCDIK/API

Automatically generates constraints from a given Motor6D instance and constraint name.

```APIDOC
## GetConstraintsFromMotor(motor : Motor6D ,constraintName : string)

### Description
Automatically generates constraints from a given Motor6D instance and constraint name.

### Parameters
* **motor** (Motor6D) - The Motor6D instance to generate constraints from.
* **constraintName** (string) - The name to identify the constraint.

### Example
```lua
local constraints = ccdikController:GetConstraintsFromMotor(upperLegMotor, "UpperLegConstraint")
```
```

--------------------------------

### CCDIKIterateUntil(goalPosition,tolerance,maxBreakCount,step)

Source: https://datlass.github.io/Rbx-CCDIK/API

Iterates the CCDIK algorithm until the goal position is reached within the specified tolerance or a maximum number of iterations is met.

```APIDOC
## CCDIKIterateUntil(goalPosition,tolerance,maxBreakCount,step)

### Description
Iterates the CCDIK algorithm until the goal position is reached within the specified tolerance or a maximum number of iterations is met.

### Parameters
* **goalPosition** (Vector3) - The target position to reach.
* **tolerance** (number) - The acceptable error margin.
* **maxBreakCount** (number) - The maximum number of iterations before breaking.
* **step** (number) - The step size for the iteration.

### Example
```lua
ccdikController:CCDIKIterateUntil(Vector3.new(0, 10, 0), 0.01, 100, 0.5)
```
```

--------------------------------

### Define Constraints Dictionary Template

Source: https://datlass.github.io/Rbx-CCDIK/API

A template for manually defining constraints for CCDIKController. It specifies constraint types (Hinge, BallSocketConstraint) and angle limits for joints.

```lua
local hipJoint = Instance.new("Motor6D")-- Motor6D within the Rig
local kneeJoint = Instance.new("Motor6D")
local constraintsTemplate = {
    [kneeJoint] = {
        ["ConstraintType"] = "Hinge";
        ["UpperAngle"] = 45; -- same as HingeConstraint [-180,180] degrees
        ["LowerAngle"] = -45;
        ["AxisAttachment"] = nil; --Automatically tries to find first child an attachment with the part0Motor6dName..AxisAttachment
        ["JointAttachment"] = nil; --or you can manually input it
    };
    [hipJoint] = {
        ["ConstraintType"] = "BallSocketConstraint";
        ["UpperAngle"] = 45; -- same as BallSocketConstraint [-180,180] degrees
        ["TwistLimitsEnabled"] = false ; -- yep same as roblox constraints
        ["TwistUpperAngle"] = 45;
        ["TwistLowerAngle"] = -45;
        ["AxisAttachment"] = nil; --Automatically tries to find first child during .new() setup but you can manually input it
        ["JointAttachment"] = nil;
    };
}
```

--------------------------------

### GetConstraints()

Source: https://datlass.github.io/Rbx-CCDIK/API

Retrieves the constraints associated with the CCDIK controller.

```APIDOC
## GetConstraints()

### Description
Retrieves the constraints associated with the CCDIK controller.

### Example
```lua
local constraints = ccdikController:GetConstraints()
```
```

--------------------------------

### Continuous CCDIK Movement with Heartbeat

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

This code uses a Heartbeat connection to continuously update the CCDIK controller's target position, causing the rig's limb to follow the target.

```lua
local RunService = game:GetService("RunService")
local leftTarget = workspace.newTarget--Part in workspace

RunService.Heartbeat:Connect(function()
    local goal = leftTarget.Position
    leftLegController:CCDIKIterateOnce(goal)
end)

```

--------------------------------

### Identify Motor6D Joints for Left Leg

Source: https://datlass.github.io/Rbx-CCDIK/BasicSetupTutorial

This code snippet identifies the Motor6D joints for the left leg (LeftHip, LeftKnee, LeftAnkle) of a dummy rig using a for loop and a dictionary.

```lua
local dummy = workspace.Dummy

local dummyMotor6Ds = {}

local dummyDescendants = dummy:GetDescendants()
for _,descendant in pairs (dummyDescendants) do
    if descendant:IsA("Motor6D") then
        dummyMotor6Ds[descendant.Name] = descendant
    end
end

local upperLeg = dummyMotor6Ds["LeftHip"]
local knee = dummyMotor6Ds["LeftKnee"]
local foot = dummyMotor6Ds["LeftAnkle"]

```

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