/* This function performs a call to the IKSolvers CCD algorithm, which then solves this chain to the current target. */
private void solve()
{
if (ikSolveMethod == IKSolveMethod.CCD)
{
IKSolver.solveChainCCD(ref joints, endEffector, currentTarget, getTolerance(), getMinimumChangePerIterationOfSolving(), getSingularityRadius(), adjustLastJointToNormal, printDebugLogs);
}
else if (ikSolveMethod == IKSolveMethod.CCDFrameByFrame)
{
StartCoroutine(IKSolver.solveChainCCDFrameByFrame(joints, endEffector, currentTarget, getTolerance(), getMinimumChangePerIterationOfSolving(), getSingularityRadius(), adjustLastJointToNormal, printDebugLogs));
deactivateSolving = true;
//Important here is that the coroutine has to update the error after it is done. Not implemented here yet!
}
error = Vector3.Distance(endEffector.position, currentTarget.position);
}
