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

			void _UpperSolve_Transform( int origIndex, ref Matrix3x3 transformBasis )
			{
				var temp = _solverInternal;

				Vector3 origPos = (origIndex == -1) ? temp.centerLegPos : temp.spinePos[origIndex];

				for( int i = 0; i != 2; ++i ) {
					SAFBIKMatMultVecPreSubAdd( out temp.armPos[i], ref transformBasis, ref temp.armPos[i], ref origPos, ref origPos );
					if( _shoulderBones != null ) {
						SAFBIKMatMultVecPreSubAdd( out temp.shoulderPos[i] , ref transformBasis , ref temp.shoulderPos[i] , ref origPos, ref origPos );
					}
				}

				int spineLength = (_spineBones != null) ? (_spineBones.Length) : 0;
				for( int spineIndex = origIndex + 1; spineIndex < spineLength; ++spineIndex ) {
					SAFBIKMatMultVecPreSubAdd( out temp.spinePos[spineIndex], ref transformBasis, ref temp.spinePos[spineIndex], ref origPos, ref origPos );
				}

				if( _neckBone != null ) {
					SAFBIKMatMultVecPreSubAdd( out temp.neckPos, ref transformBasis, ref temp.neckPos, ref origPos, ref origPos );
				}

				if( origIndex == -1 ) {
					if( temp.legPos != null ) {
						for( int i = 0; i < 2; ++i ) {
							SAFBIKMatMultVecPreSubAdd( out temp.legPos[i], ref transformBasis, ref temp.legPos[i], ref origPos, ref origPos );
						}
					}
				}

				temp.SetDirtyVariables();
			}