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		<h1>[name]</h1>

		<p class="desc"> A solver for IK with <a href="https://sites.google.com/site/auraliusproject/ccd-algorithm">`CCD Algorithm`</a>. <br /><br />
		[name] solves Inverse Kinematics Problem with CCD Algorithm.
		[name] is designed to work with [page:SkinnedMesh] but also can be used with [page:MMDLoader] or [page:GLTFLoader] skeleton.
		</p>

		<iframe id="scene" src="scenes/ccdiksolver-browser.html"></iframe>

		<h2>Import</h2>

		<p>
			[name] is an add-on, and must be imported explicitly.
			See [link:#manual/introduction/Installation Installation / Addons].
		</p>

		<code>
			import { CCDIKSolver } from 'three/addons/animation/CCDIKSolver.js';
		</code>

		<h2>Code Example</h2>

		<code>
		let ikSolver;

		//
		// Bones hierarchy:
		//
		//   root
		//     ├── bone0
		//     │    └── bone1
		//     │          └── bone2
		//     │                └── bone3
		//     └── target
		//
		// Positioned as follow on the cylinder:
		//
		//        o      <- target      (y =  20)
		//        
		//   +----o----+ <- bone3       (y =  12)
		//   |         |
		//   |    o    | <- bone2       (y =   4)
		//   |         |
		//   |    o    | <- bone1       (y =  -4)
		//   |         |
		//   +----oo---+ <- root, bone0 (y = -12)
		//

		let bones = []

		// "root"
		let rootBone = new Bone();
		rootBone.position.y = -12;
		bones.push( rootBone );

		// "bone0"
		let prevBone = new Bone();
		prevBone.position.y = 0;
		rootBone.add( prevBone );
		bones.push( prevBone );

		// "bone1", "bone2", "bone3"
		for ( let i = 1; i <= 3; i ++ ) {
			const bone = new Bone();
			bone.position.y = 8;
			bones.push( bone );
			
			prevBone.add( bone );
			prevBone = bone;
		}

		// "target"
		const targetBone = new Bone();
		targetBone.position.y = 24 + 8
		rootBone.add( targetBone );
		bones.push( targetBone );

		//
		// skinned mesh
		//

		const mesh = new SkinnedMesh( geometry,	material );
		const skeleton = new Skeleton( bones );

		mesh.add( bones[ 0 ] ); // "root" bone
		mesh.bind( skeleton );

		//
		// ikSolver
		//

		const iks = [
			{
				target: 5, // "target"
				effector: 4, // "bone3"
				links: [ { index: 3 }, { index: 2 }, { index: 1 } ] // "bone2", "bone1", "bone0"
			}
		];
		ikSolver = new CCDIKSolver( mesh, iks );

		function render() {
			ikSolver?.update();
			renderer.render( scene, camera );
		}
		</code>

		<h2>Examples</h2>

		<p>
			[example:webgl_animation_skinning_ik]<br />
			[example:webgl_loader_mmd]<br />
			[example:webgl_loader_mmd_pose]<br />
			[example:webgl_loader_mmd_audio]
		</p>

		<h2>Constructor</h2>

		<h3>[name]( [param:SkinnedMesh mesh], [param:Array iks] )</h3>
		<p>
		[page:SkinnedMesh mesh] — [page:SkinnedMesh] for which [name] solves IK problem.<br />
		[page:Array iks] — An array of [page:Object] specifying IK parameter. target, effector, and link-index are index integers in .skeleton.bones.
		The bones relation should be "links[ n ], links[ n - 1 ], ..., links[ 0 ], effector" in order from parent to child.<br />
		</p>
		<ul>
			<li>[page:Integer target] — Target bone.</li>
			<li>[page:Integer effector] — Effector bone.</li>
			<li>[page:Array links] — An array of [page:Object] specifying link bones.
			<ul>
				<li>[page:Integer index] — Link bone.</li>
				<li>[page:Vector3 limitation] — (optional) Rotation axis. Default is undefined.</li>
				<li>[page:Vector3 rotationMin] — (optional) Rotation minimum limit. Default is undefined.</li>
				<li>[page:Vector3 rotationMax] — (optional) Rotation maximum limit. Default is undefined.</li>
				<li>[page:Boolean enabled] — (optional) Default is true.</li>
			</ul>
			</li>
			<li>[page:Integer iteration] — (optional) Iteration number of calculation. Smaller is faster but less precise. Default is 1.</li>
			<li>[page:Number minAngle] — (optional) Minimum rotation angle in a step. Default is undefined.</li>
			<li>[page:Number maxAngle] — (optional) Maximum rotation angle in a step. Default is undefined.</li>
		</ul>
		<p>
		Creates a new [name].
		</p>

		<h2>Properties</h2>

		<h3>[property:Array iks]</h3>
		<p>An array of IK parameter passed to the constructor.</p>

		<h3>[property:SkinnedMesh mesh]</h3>
		<p>[page:SkinnedMesh] passed to the constructor.</p>

		<h2>Methods</h2>

		<h3>[method:CCDIKHelper createHelper]()</h3>
		<p>
		Return [page:CCDIKHelper]. You can visualize IK bones by adding the helper to scene.
		</p>

		<h3>[method:this update]()</h3>
		<p>
		Update IK bones quaternion by solving CCD algorithm.
		</p>

		<h3>[method:this updateOne]( [param:Object ikParam] )</h3>
		<p>
		Update an IK bone quaternion by solving CCD algorithm.
		</p>

		<h2>Source</h2>

		<p>
			[link:https://github.com/mrdoob/three.js/blob/master/examples/jsm/animation/CCDIKSolver.js examples/jsm/animation/CCDIKSolver.js]
		</p>
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