Related to my graduation project I implemented Inverse kinematics to have a more realistic result as human joint limits. This work was based on the work of Samuel R. Bus who implemented 4 ways to do inverse kinematics on a tree and double tree i changed the code from C++ to C# and added a humanoid these are the 2D results of the project.
The orange/yellow circles are the target, blue circles are the joints, red are the end effectors(head/hand/feet) and the green circle is the root of the tree. Below is the 3D demonstration on a Model using XNA.
the angles made by the Dude model was not perfect I corrected that later on
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