Solves the chain for target, iterating until it is close enough, stops improving, or runs out
of attempts.
A constrained chain does not converge monotonically, so the best pose seen is kept and restored.
A dead-straight chain is the worst case to solve cold: every direction lies on one line, leaving
nothing sideways to bend it with. Give it a slight bend if the first solve matters.
Solves the chain for
target, iterating until it is close enough, stops improving, or runs out of attempts.A constrained chain does not converge monotonically, so the best pose seen is kept and restored.
A dead-straight chain is the worst case to solve cold: every direction lies on one line, leaving nothing sideways to bend it with. Give it a slight bend if the first solve matters.