   help with CCD algorithm
  i'm trying to achieve inverse kinematics using cyclic-coordinate descent (CCD) for a chain of joints - (0, 1, 2, ... , s).from what i've understood of it, i've written some code which does not work at all. could you please tell where i'm going wrong.i've modified the code to make it understandable.//   * d (x,y)//  // //  *-----*------*-------*//   <---(i) q    (s) pCoord p, q, d;Joint *ptrp, *ptrq, *ptrj;double m1, m2, t;// 's + 1' number of joints in chaind = target_coord();ptrp = getjoint(s);for (i = s - 1; i > 0; i--){p = ptrp->getcoord();   ptrq = getjoint(i);q = ptrq->getcoord();   // calculate angle 't' between pq and dq using slopesm1 = (p.y - q.y) / (double) (p.x - q.x);m2 = (d.y - q.y) / (double) (d.x - q.x);t = (m1 * m2 != -1.0)? atan((m2 - m1) / (1 + m1 * m2)) : PI / 2;for (j = i + 1; j <= s; j++){// for all childrenptrj = getjoint(j);ptrj->add_rotangle(t);}}the above loop will be run several times inside another loop.   