SA.FullBodyIK.BodyIK._LowerSolve C# (CSharp) Method

			void _LowerSolve( bool firstPass )
			{
				var temp = _solverInternal;
				var cache = _solverCaches;
				Assert( temp != null );
				Assert( cache != null );
				if( temp.spinePos == null || temp.spinePos.Length == 0 ) {
					return;
				}

				float limbRate = firstPass ? 1.0f : cache.armToLegRate;

				if( temp.PrepareLowerRotation( 0 ) ) {
					Vector3 centerLegBoneY = temp.centerLegBasis.column1;
					for( int i = 0; i < 2; ++i ) {
						if( temp.legs.endPosEnabled[i] && temp.legs.targetBeginPosEnabled[i] ) {
							Vector3 legDir = temp.legs.targetBeginPos[i] - temp.legs.beginPos[i];
							if( SAFBIKVecNormalize( ref legDir ) ) {
								float legDirFeedbackRate = Vector3.Dot( centerLegBoneY, -legDir );
#if false
								legDirFeedbackRate = Mathf.Asin( Mathf.Clamp( legDirFeedbackRate, -1.0f, 1.0f ) );
								legDirFeedbackRate *= 1.0f / (90.0f * Mathf.Deg2Rad);
								legDirFeedbackRate = Mathf.Clamp01( legDirFeedbackRate );
#else // Faster
								legDirFeedbackRate = Mathf.Clamp01( legDirFeedbackRate );
#endif
								legDirFeedbackRate = 1.0f - legDirFeedbackRate;
								temp.SetSolveFeedbackRate( i, legDirFeedbackRate * limbRate );
							}
						}
					}
					
					Quaternion origLowerRotation;
					if( temp.SolveLowerRotation( 0, out origLowerRotation ) ) {
						temp.LowerRotation( 0, ref origLowerRotation, false );
					}
				}

				if( _hipsEffector.positionEnabled &&
					_hipsEffector.positionWeight <= IKEpsilon &&
					_hipsEffector.pull >= 1.0f - IKEpsilon ) {
					// Nothing.(Always locked.)
				} else {
					if( temp.PrepareLowerTranslate() ) {
						Vector3 origLowerTranslate;
						if( temp.SolveLowerTranslate( out origLowerTranslate ) ) {
							if( limbRate < 1.0f - IKEpsilon ) {
								origLowerTranslate *= limbRate;
							}

							if( _hipsEffector.positionEnabled && _hipsEffector.pull > IKEpsilon ) {
								Vector3 extraTranslate = _hipsEffector._hidden_worldPosition - temp.centerLegPos;
								origLowerTranslate = Vector3.Lerp( origLowerTranslate, extraTranslate, _hipsEffector.pull );
							}

							temp.Translate( ref origLowerTranslate );
						}
					}
				}
			}