// Token: 0x06002750 RID: 10064 RVA: 0x000B6344 File Offset: 0x000B4544
public static void SolveInward(Core.Chain chain)
{
int count = chain.joints.Count;
chain.joints[count - 1].pos = Vector3.Lerp(chain.GetVirtualEE(), chain.GetIKtarget(), chain.weight);
for (int i = count - 2; i >= 0; i--)
{
Vector3 pos = chain.joints[i + 1].pos;
Vector3 vector = chain.joints[i].pos - pos;
vector.Normalize();
vector *= Vector3.Distance(chain.joints[i + 1].joint.position, chain.joints[i].joint.position);
chain.joints[i].pos = pos + vector;
}
}
/// <summary>
/// Find the virtual new solved position of joints in the chain inward
/// </summary>
/// <param name="chain"></param>
public static void SolveInward(Core.Chain chain)
{
int c = chain.Joints.Count;
//Use Weight first
chain.Joints[c - 1].pos = Vector3.Lerp(chain.GetVirtualEE(), chain.GetIKTarget(), chain.Weight);
//find the joint on the chain's virtual line
for (int i = c - 2; i >= 0; i--)
{
Vector3 _p = chain.Joints[i + 1].pos; //point
Vector3 _d = chain.Joints[i].pos - _p; //direction
_d.Normalize();
_d *= Vector3.Distance(chain.Joints[i + 1].joint.position, chain.Joints[i].joint.position); //all points in a direction along a length
chain.Joints[i].pos = _p + _d;
}
}
