SA.FullBodyIK.Prepare C# (CSharp) Method

		public bool Prepare()
		{
			_Prefix();

			if( _isPrepared ) {
				return false;
			}

			_isPrepared = true;

			Assert( rootTransform != null );
			if( rootTransform != null ) { // Failsafe.
				internalValues.defaultRootPosition = rootTransform.position;
				internalValues.defaultRootBasis = Matrix3x3.FromColumn( rootTransform.right, rootTransform.up, rootTransform.forward );
				internalValues.defaultRootBasisInv = internalValues.defaultRootBasis.transpose;
				internalValues.defaultRootRotation = rootTransform.rotation;
			}
			
			if( _bones != null ) {
				int boneLength = _bones.Length;
				for( int i = 0; i != boneLength; ++i ) {
					Assert( _bones[i] != null );
					if( _bones[i] != null ) {
						_bones[i].Prepare( this );
					}
				}
				for( int i = 0; i != boneLength; ++i ) {
					if( _bones[i] != null ) {
						_bones[i].PostPrepare();
					}
				}
			}

			boneCaches.Prepare( this );

			if( _effectors != null ) {
				int effectorLength = _effectors.Length;
                for( int i = 0; i != effectorLength; ++i ) {
					Assert( _effectors[i] != null );
					if( _effectors[i] != null ) {
						_effectors[i].Prepare( this );
					}
				}
			}

			if( _limbIK == null || _limbIK.Length != (int)LimbIKLocation.Max ) {
				_limbIK = new LimbIK[(int)LimbIKLocation.Max];
			}

			for( int i = 0; i != (int)LimbIKLocation.Max; ++i ) {
				_limbIK[i] = new LimbIK( this, (LimbIKLocation)i );
			}

			_bodyIK = new BodyIK( this, _limbIK );
			_headIK = new HeadIK( this );

			if( _fingerIK == null || _fingerIK.Length != (int)FingerIKType.Max ) {
				_fingerIK = new FingerIK[(int)FingerIKType.Max];
			}

			for( int i = 0; i != (int)FingerIKType.Max; ++i ) {
				_fingerIK[i] = new FingerIK( this, (FingerIKType)i );
			}

			{
				Bone neckBone = headBones.neck;
				Bone leftShoulder = leftArmBones.shoulder;
				Bone rightShoulder = rightArmBones.shoulder;
				if( leftShoulder != null && leftShoulder.transformIsAlive &&
					rightShoulder != null && rightShoulder.transformIsAlive &&
					neckBone != null && neckBone.transformIsAlive ) {
					if( leftShoulder.transform.parent == neckBone.transform &&
						rightShoulder.transform.parent == neckBone.transform ) {
						_isNeedFixShoulderWorldTransform = true;
					}
				}
			}

			return true;
        }