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The Law of Cosines

The Law of Cosines can be thought of as a more general case of Pythagorus. It has the advantage that it doesn’t have to be used on a right-angled triangle, but you need to know one of the angles as well.

c^2 = a^2 + b^2 - 2ab\cos \gamma

The angle γ is specified to be the one opposite the side “c” in the equation.

This formula is directly applicable for calculating inverse-kinematics for a 2 bone system.

Back up to Trigonometry

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