Support for ball joints

[TheButlah]

I wanted to use k for a forward kinematics solver for a human pose. In order to accomplish this I would need the ability to have ball joints, such as the joints on your hip and spine. Could this functionality be added? I know its possible by using three rotational joints but thinking about permutations of rotations, etc, is confusing to me and I'm not sure I'm up to the challenge as someone unfamiliar with all of this.

[OTL]

Hi, thank you for good feedback!
I don't know about the ball joint so much. Could you tell me about what is the input of ball joint what you think?
For example, it might be a quaternion or rotation matrix?

[TheButlah]

I know very little at all about IK or FK. That was why I came to this crate :P

But in this case, the ball joint was like your hip or shoulder joint, for example. Presumably input is quaternion. Use case was to use k for a humanoid FK based model