private float PerformOneIteration(Chain chain, Transform target)
{
int boneCount = chain.BoneCount;
// FORWARD STEP
chain.AttachBoneToChildPos(boneCount - 1, target.position, false);
int i = boneCount - 2;
while (i >= 0)
{
chain.AttachBoneToChild(i--, false);
// TODO: Constraints
}
//BACKWARD STEP
chain.AttachBoneToParentPos(0, chain.OriginalRootPos, false);
i = 1;
while (i < boneCount)
{
chain.AttachBoneToParent(i++, false);
// TODO: Constraints
}
return(Vector3.Distance(chain.EndEffector.Position, target.position));
}
private static Vector3 ForwardStep(Chain chain, Transform target, int startJoint)
{
Vector3 startJointPos = chain.GetJoints()[startJoint].Position;
chain.AttachBoneToChildPos(chain.BoneCount - 1, target.position, false);
int i = chain.BoneCount - 2;
while (i >= startJoint)
{
chain.AttachBoneToChild(i, false);
i--;
}
return(startJointPos);
}
