non linear bar linkage ik approximation

a script for blender that can run that creates a lookup table and code to read that lookup table to approximate the inverse kinematics of any non linear bar linkage. Also works for IK setups that have anything affected by arm rotation (still non linear but in case you didn't know idk) e.g. the forearm is a piston or something that gets longer when the arm stretches, this can make ik work for that.