internal void AddIkJointToEndEffector(string ikJointName, string endEffectorName)
{
IKEndEffector endEffector = GetEndEffector(endEffectorName);
IKJoint ikJoint = GetIkJoint(ikJointName);
endEffector.AppendIkJointIndex(ikJoint.Index);
}
internal IKEndEffector MakeEndEffector(string jointName)
{
if (EndEffectorExists(jointName))
{
throw new ValueException("IKArmature::max_ik_joint(): the joint with the given name is already an end effector");
}
Joint joint = restArmature.GetJoint(jointName);
IKEndEffector effector = new IKEndEffector(joint.Name, joint.Index);
endEffectorsByIndex[joint.Index] = effector;
endEffectorsByName[joint.Name] = effector;
return(effector);
}
