Hello! I'm currently working on something that will require inverse kinematics to be used with CFrame to make legs move correctly and plant the feet on the ground no matter the angle, my question is what is a method for doing this? I am already knowledgeable in Lua, however my math/vector skills aren't great, I know how it works but putting the equations I've found on google for inverse kinematic methods is something I'm struggling with. At a very basic level, lets say I just want 3 long sticks to be bound together.
Here is an example someone else has done, however the code is not open sourced.