void iteration()
{
iteration(i1, i2, i3, i4, i5, i6);
Vector3 posForearmR, posHandR;
float d1, d2;
if (absPos)
{
posForearmR = rightForearm.position;
posHandR = rightHand.position;
}
else
{
posForearmR = rightHand.InverseTransformPoint(rightForearm.position);
posHandR = rightHand.position;
}
d1 = Vector3.Distance(rightForearmPos, posForearmR); // 肘部位置与目标的距离
var rela = rightHandTarget.position - rightUpperarm.position;
rightHandTarget.position = rightUpperarm.position + rela.normalized * handTargetDistance;
d2 = Vector3.Distance(rightHandTarget.position, posHandR); // 手掌位置与目标的距离
var dis = d1 + d2;
if (dis < bestDistance) // 出现新的理想值
{
bestDistance = dis; // 更新（保存）相应数值
i1.SaveBest();
}
}
internal void SaveBest()
{
best = value;
if (child != null)
{
child.SaveBest();
}
}