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

			void _PresolveHips()
			{
				Assert( _internalValues != null && _internalValues.animatorEnabled );

				var temp = _solverInternal;
				Assert( temp != null );

				if( _hipsEffector == null ) {
					return;
				}

				bool rotationEnabled = _hipsEffector.rotationEnabled && _hipsEffector.rotationWeight > IKEpsilon;
				bool positionEnabled = _hipsEffector.positionEnabled && _hipsEffector.pull > IKEpsilon; // Note: Not positionWeight.

				if( !rotationEnabled && !positionEnabled ) {
					return;
				}

				Matrix3x3 centerLegBasis = temp.centerLegBasis;

				if( rotationEnabled ) {
					Quaternion centerLegRotationTo = _hipsEffector.worldRotation * Inverse( _hipsEffector._defaultRotation );
					Quaternion centerLegRotationFrom;
					SAFBIKMatGetRot( out centerLegRotationFrom, ref centerLegBasis );

					Quaternion centerLegRotation = centerLegRotationTo * Inverse( centerLegRotationFrom );

					if( _hipsEffector.rotationWeight < 1.0f - IKEpsilon ) {
						centerLegRotation = Quaternion.Lerp( Quaternion.identity, centerLegRotation, _hipsEffector.rotationWeight );
					}

					temp.LowerRotation( -1, ref centerLegRotation, true );
					centerLegBasis = temp.centerLegBasis;
				}

				if( positionEnabled ) {
					// Note: _hidden_worldPosition is contained positionWeight.
                    Vector3 hipsEffectorWorldPosition = _hipsEffector._hidden_worldPosition;
                    Vector3 centerLegPos;
					SAFBIKMatMultVecPreSubAdd( out centerLegPos, ref centerLegBasis, ref _defaultCenterLegPos, ref _hipsEffector._defaultPosition, ref hipsEffectorWorldPosition );

					Vector3 translate = centerLegPos - temp.centerLegPos;
					if( _hipsEffector.pull < 1.0f - IKEpsilon ) {
						translate *= _hipsEffector.pull;
                    }

					temp.Translate( ref translate );
				}
			}