void Update()
{
Vector3 targetPosition = target.position;
Vector3 inMotor1Space = arm.motorShaft1.transform.parent.InverseTransformPoint(targetPosition);
inMotor1Space.y = arm.motorShaft1.position.y;
Vector2 delta = new Vector2(inMotor1Space.x, inMotor1Space.z);
arm.motorShaft1.localEulerAngles = new Vector3(0f, -delta.SignedAngleBetween(Vector2.right), 0f);
Vector3 inMotor2Space = arm.motorShaft2.transform.parent.InverseTransformPoint(targetPosition);
inMotor2Space.y = arm.motorShaft2.position.y;
Vector2 motor2Delta = Vector2.ClampMagnitude(new Vector2(inMotor2Space.x, inMotor2Space.z), arm.arm2Length + arm.arm3Length - 0.01f);
float motor2AngleOffset = -motor2Delta.SignedAngleBetween(Vector2.up);
float dist = motor2Delta.magnitude;
float arm1Angle = HelperMath.GetAngleCosineRule(dist, arm.arm2Length, arm.arm3Length);
float arm2Angle = HelperMath.GetAngleCosineRule(arm.arm3Length, arm.arm2Length, dist);
arm.motorShaft2.localEulerAngles = new Vector3(0f, motor2AngleOffset - arm1Angle, 0f);
arm.motorShaft3.localEulerAngles = new Vector3(0f, arm2Angle, 0f);
}
