Why does my IK (CCD Solver) flip the setup passed the midpoint?

I’m using a CCDSolver for a simple bone setup with a chain length of 4.

Why is it that it flips the setup when i pass the mid point? Logically when looking at it, it should just keep rotating the lowest bone to follow the target, and not rotate it 90 degrees.

I’ve tried different values for Iterations, Tolerance, Velocity, It appears different, but the main problem is still there.

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The checkbox “Solve from default pose” on the Fabrik Solver 2D component solves it. Thanks to Lecks on the GDL Discord :slight_smile: