HexapiBackground.IK.InverseKinematics.IkCalculation C# (CSharp) Method

        private void IkCalculation(int legIndex)
        {
            if (legIndex == 5)
                _lastLeg = true;

            var gaitPosXyZrotY = Gait(legIndex, _travelRequest, _travelLengthX,
                _travelLengthZ, _travelRotationY,
                _gaitPosX, _gaitPosY, _gaitPosZ, _gaitRotY,
                _numberOfLiftedPositions, _gaitLegNumber[legIndex],
                _legLiftHeight, _liftDivisionFactor, _halfLiftHeight, _stepsInGait, _tlDivisionFactor);

            _gaitPosX = gaitPosXyZrotY[0];
            _gaitPosY = gaitPosXyZrotY[1];
            _gaitPosZ = gaitPosXyZrotY[2];
            _gaitRotY = gaitPosXyZrotY[3];

            var angles = BodyLegIk(legIndex,
                _legPosX[legIndex], _legPosY[legIndex], _legPosZ[legIndex],
                _bodyPosX, _bodyPosY + LegYHeightCorrector[legIndex], _bodyPosZ,
                _gaitPosX[legIndex], _gaitPosY[legIndex], _gaitPosZ[legIndex], _gaitRotY[legIndex],
                _offsetX[legIndex], _offsetZ[legIndex],
                _bodyRotX, _bodyRotZ, _bodyRotY, _calculatedCoxaAngle[legIndex]);

            _coxaAngle[legIndex] = angles[0];
            _femurAngle[legIndex] = angles[1];
            _tibiaAngle[legIndex] = angles[2];
        }