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Run npm i @rbxts/ccdik-controller in your project directory.

import CCDIKController, { ConstraintsValue } from "@rbxts/ccdik-controller";

// optional constraints parameter
const constraints = new Map<Motor6D, ConstraintsValue>();
constraints.set(new Instance("Motor6D"), {
	ConstraintType: "Hinge",
	LowerAngle: 5,
	UpperAngle: 10,
	AxisAttachment: "foo",
	JointAttachment: "baz",
});
const ikController = new CCDIKController([motor1, motor2, motor3], constraints);

ikController.CCDIKIterateUntil(new Vector3(5, 5, 5));

If you would like to contribute to CCDIK Controller, please file Pull Requests and Issues in its GitHub repository, and not in the repository of this package.