public WRay Solve(int i)
{
var result = IKTool.IKSolve(joints[i], target, end);
if (IKTool.Close(target.position, end.position))
{
Debug.Log("完成");
}
return(result);
}
public int iteration; // 计算的迭代次数
public List <WRay> Solve()
{
List <WRay> result = new List <WRay>();
int i;
for (i = 0; i < iteration; i++)
{
foreach (var joint in joints)
{
var ray = IKTool.IKSolve(joint, target, end);
if (ray != null)
{
result.Add(ray);
}
}
//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(result);
}
}
return(result);
//Debug.Log(i.ToString() + " 次迭代 未完成");
}
