public void Forward(float value)
        {
            var vec    = _root.Vector + _mid.Vector;
            var target = vec.magnitude + value;

            if (target > _root.Vector.magnitude + _mid.Vector.magnitude)
            {
                return;
            }

            if (Fix())
            {
                return;
            }

            // 利用三角函数计算出要移动的角度,相对法线进行移动
            {
                var old   = Kit.Angle(_root.Vector.magnitude, vec.magnitude, _mid.Vector.magnitude);
                var now   = Kit.Angle(_root.Vector.magnitude, target, _mid.Vector.magnitude);
                var angle = old - now;
                var axis  = Vector3.Cross(_root.Vector, _mid.Vector).normalized;
                _root.RotateAround(_root.Transform.position, axis, angle);
            }
            {
                var old   = Kit.Angle(_root.Vector.magnitude, _mid.Vector.magnitude, vec.magnitude);
                var now   = Kit.Angle(_root.Vector.magnitude, _mid.Vector.magnitude, target);
                var angle = old - now;
                var axis  = Vector3.Cross(_root.Vector, _mid.Vector).normalized;
                _mid.RotateAround(_mid.Transform.position, axis, angle);
            }
        }
        public static void Forward(IFkJoint root, IFkJoint end, float value)
        {
            var vec    = root.Vector + end.Vector;
            var target = vec.magnitude + value;

            if (target > root.Vector.magnitude + end.Vector.magnitude)
            {
                return;
            }
            {
                var old   = Kit.Angle(root.Vector.magnitude, vec.magnitude, end.Vector.magnitude);
                var now   = Kit.Angle(root.Vector.magnitude, target, end.Vector.magnitude);
                var angle = old - now;
                var axis  = Vector3.Cross(root.Vector, end.Vector).normalized;
                root.RotateAround(root.Transform.position, axis, angle);
            }
            {
                var old   = Kit.Angle(root.Vector.magnitude, end.Vector.magnitude, vec.magnitude);
                var now   = Kit.Angle(root.Vector.magnitude, end.Vector.magnitude, target);
                var angle = old - now;
                var axis  = Vector3.Cross(root.Vector, end.Vector).normalized;
                end.RotateAround(end.Transform.position, axis, angle);
            }
        }