after lots of research I developed a 100% pen IK simulator which I will be using for my future projects It uses a technique called FABRIK, forward and backward reaching inverse kinematics. It supports variable number of joints, costume based joints, multiple colors. Sadly I never implemented variable length joints
Please use with credit (it took a long time to make) I will be implementing this in some of my games! If you have any questions about how this works feel free to ask!
