public WRay Solve(int i)
{
var result = IKTool.IKSolve(joints[i], target, end, maxDeltaAngle);
if (IKTool.Close(target.position, end.position))
{
Debug.Log("完成");
}
return(result);
}
public void Solve()
{
int i;
for (i = 0; i < iteration; i++)
{
foreach (var joint in joints)
{
IKTool.IKSolve(joint, target, end, maxDeltaAngle);
}
//if (IKTool.Close(target.position, end.position)) { Debug.Log(i.ToString() + " 次迭代 完成"); return; }
if (IKTool.Close(target.position, end.position))
{
return;
}
}
//Debug.Log(i.ToString() + " 次迭代 未完成");
}