# 2012–2014: simulation on the PC

- `ik-visualiser-vs/` – Visual Studio 2012 (C++, Win32 GDI) app that draws the leg inverse kinematics
  (Oct–Nov 2012). The project file is still called `Catmull-Rom app.vcxproj`. A built `Debug/Hexapod app.exe` is included.
- `processing-3d/` – Processing 2.2.1 3D simulator of the whole robot (October 2014): IK per leg (`FootClass`),
  body rotation and translation (`HexapodClass`). Tags `processing-rar-1` … `processing-rar-4` are the four
  archived versions. Its classes were later ported to Arduino, see `../2016-ssc32-processing-port/`.