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An alternative to Robert Leger's quick tip #9
robertleger.net/blog/2011/09/quick-tip-9/
Using a Mospline gives you the benefit to add forces in addition to effectors.
If you want to see how i got to my starting phase, where the roll/unroll function is already set up, just check Robert's quick tip.
My Xpresso presets:
c4dtools.net/frames/
c4dtools.net/legoman-4d/
c4dtools.net/lego4d/
c4dtools.net/psr-animator/