How to program FK/IK blending?

[aokman]

Hi, everyone.
I have just got some idea of how to sovle IK problem(CCD and Jacobian).
I surf on the internet, and found that in real game IK is blended into FK to
output final animation. But what I found seem less detailed, and I couldn't
build a program like that, so could anybody show me more material on
programming FK/IK blending?

Thanks in advance.

[fishboy82]

Yes, I am also confused about this ,for stationary action like stand we can recalculate the position of every bone use IK , but for dynamic action like walk,run if we calculate the IK position every frame according to the FKframe,the resulted seqence may be discontinuous I think,so how does games solve this?