/// <summary>
/// given the end joint and the IK link length, setup the IK link
/// </summary>
public void SetBones(Transform endJoint, int len)
{
Dbg.Assert(len > 0, "BaseIKSolver.SetBones: the link length must be larger than 0");
ClearBones();
// the endJoint is the joint user moves, the link's last joint is its parent
Transform joint = endJoint;
float totalLen = 0;
// add the endJoint
JointInfo endInfo = new JointInfo();
endInfo.joint = endJoint;
endInfo.boneLen = 0;
endInfo.remainLen = 0;
m_Joints.Add(endInfo);
// add joint from the end to the head
for (int idx = 0; idx < len; ++idx)
{
Transform parentJoint = joint.parent;
Dbg.Assert(parentJoint != null, "BaseIKSolver.SetBones: the link length is too big, there is already no parent joint for: {0}", joint);
JointInfo info = new JointInfo();
info.joint = parentJoint;
info.boneLen = (parentJoint.position - joint.position).magnitude;
info.remainLen = totalLen;
totalLen += info.boneLen;
m_Joints.Add(info);
joint = parentJoint;
}
m_Joints.Reverse(); //reverse the array to make the most significant joint at first entry
m_TransArr = new Transform[m_Joints.Count];
for (int i = 0; i < m_TransArr.Length; ++i)
{
m_TransArr[i] = m_Joints[i].joint;
}
}