Krust is a tiny inverse kinematics library using gradient descent to optimize a kinematic chain w/ basic collision avoidance. It only supports revolute joints at the moment.
It is meant to be used as a webassembly package for a demo I made here.
In the krust directory, run:
wasm-pack build --target webCopy the pkg folder to the src folder on your webserver. The webassembly module can now be loaded like any other module.