public void Apply(FullBodyBipedChain chain, IKSolverFullBodyBiped solver)
{
solver.GetChain(chain).reachSmoothing = this.reachSmoothing;
solver.GetEndEffector(chain).maintainRelativePositionWeight = this.maintainRelativePositionWeight;
solver.GetLimbMapping(chain).weight = this.mappingWeight;
}