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");
    }