Visualizing CCD

To help visualize the algorithm, let's run through a single iteration of CCD on a small kinematic chain of rotational joints.

After our first loop through the bone chain, we have moved the end effector much closer to the target position. By repeating this process, we will continue to get closer and closer. Once we have reached a tolerable distance from the target position or once we have performed too many iterations (for performance reasons), we can stop looping. If we didn't manage to find a solution on one frame, we can supply the updated joints as the starting CCD values on the next frame (essentially distributing a larger number of iterations over multiple frames).