LimbStick for Genesis 3 And Above
Details
The long version:
Similar to inverse kinematics, LimbStick is a utility that uses a mathematical process of calculating the joint parameters needed to place an appendage (hand or foot), in a given position and orientation relative to the node selected to follow.
The calculations are made across a partial or full animation to ensure that the selected appendage perfectly follows the selected target node.
The short version:
Click on a hand or foot followed by a target, and run the utility to magically have it stay attached to the target.
https://www.daz3d.com/limbstick-for-genesis-3-and-above
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