Docs?

[gigablox]

Awesome work on this project so far - IK chains are pure sorcery.

I've been looking through the code and understand how you're putting things together, but an API would
be massively helpful.

FullIK is a JavaScript port of my Caliko library (https://github.com/FedUni/caliko) which comes with both a user guide and a comprehensively documented API (that is, it's "javadoc'd" to the hilt). So you could grab that and in all/the-vast-majority-of-cases it will be applicable to this.

[lo-th]

yes i change some function name
but is same docs

[JordanMachado]

This looks awesome but without a proper doc it's super long to use I think even a simple doc showing creating solver adding bonnes and all the parameters will be perfect. Searching all the info on a java project + the demo it's not good at all.