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 void BackwardStep(Chain chain, Transform target, int startJoint, Vector3 startJointPos)
{
chain.AttachBoneToParentPos(startJoint, startJointPos, false);
int i = startJoint + 1;
while (i < chain.BoneCount)
{
chain.AttachBoneToParent(i, false);
i++;
}
}
