SA.FullBodyIK.Update C# (CSharp) Method

		public void Update()
		{
			_UpdateInternalValues();

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

			internalValues.ClearDegugPoints();

			_Bones_PrepareUpdate();

			_Bones_SyncDisplacement();

			if( internalValues.resetTransforms || internalValues.continuousSolverEnabled ) {
				_ComputeBaseHipsTransform();
            }

			// Feedback bonePositions to effectorPositions.
			// (for AnimatorEnabled only.)
			if( _effectors != null ) {
				int effectorLength = _effectors.Length;
				for( int i = 0; i != effectorLength; ++i ) {
					Effector effector = _effectors[i];
					if( effector != null ) {
						// todo: Optimize. (for BodyIK)

						// LimbIK : bending / end
						// BodyIK :  wrist / foot / neck
						// FingerIK : nothing
						if( effector.effectorType == EffectorType.Eyes ||
							effector.effectorType == EffectorType.HandFinger ) { // Optimize.
#if SAFULLBODYIK_DEBUG
							effector._hidden_worldPosition = new Vector3();
#endif
						} else {
							float weight = effector.positionEnabled ? effector.positionWeight : 0.0f;
							Vector3 destPosition = (weight > IKEpsilon) ? effector.worldPosition : new Vector3();
							if( weight < 1.0f - IKEpsilon ) {
								Vector3 sourcePosition = destPosition; // Failsafe.
								if( !internalValues.animatorEnabled && (internalValues.resetTransforms || internalValues.continuousSolverEnabled) ) {
									if( effector.effectorLocation == EffectorLocation.Hips ) {
										sourcePosition = internalValues.baseHipsPos; // _ComputeBaseHipsTransform()
									} else {
										Effector hipsEffector = (bodyEffectors != null) ? bodyEffectors.hips : null;
										if( hipsEffector != null ) {
											SAFBIKMatMultVecPreSubAdd(
												out sourcePosition,
												ref internalValues.baseHipsBasis,
												ref effector._defaultPosition,
												ref hipsEffector._defaultPosition,
												ref internalValues.baseHipsPos );
                                        }
									}
								} else { // for Animation.
									if( effector.bone != null && effector.bone.transformIsAlive ) {
										sourcePosition = effector.bone.worldPosition;
									}
								}

								if( weight > IKEpsilon ) {
									effector._hidden_worldPosition = Vector3.Lerp( sourcePosition, destPosition, weight );
								} else {
									effector._hidden_worldPosition = sourcePosition;
								}
							} else {
								effector._hidden_worldPosition = destPosition;
							}
						}
					}
				}
			}

			// Presolve locations.
			if( _limbIK != null ) {
				int limbIKLength = _limbIK.Length;
                for( int i = 0; i != limbIKLength; ++i ) {
					if( _limbIK[i] != null ) {
						_limbIK[i].PresolveBeinding();
					}
				}
			}

			if( _bodyIK != null ) {
				if( _bodyIK.Solve() ) {
					_Bones_WriteToTransform();
				}
			}

			// todo: Force overwrite _hidden_worldPosition (LimbIK, arms)

			// settings.
			//		public bool legAlwaysSolveEnabled = true;
			//		public bool armAlwaysSolveEnabled = false;

			if( _limbIK != null || _headIK != null ) {
				_Bones_PrepareUpdate();

				bool isSolved = false;
				bool isHeadSolved = false;
				if( _limbIK != null ) {
					int limbIKLength = _limbIK.Length;
					for( int i = 0; i != limbIKLength; ++i ) {
						if( _limbIK[i] != null ) {
							isSolved |= _limbIK[i].Solve();
						}
					}
				}
				if( _headIK != null ) {
					isHeadSolved = _headIK.Solve( this );
					isSolved |= isHeadSolved;
                }

				if( isHeadSolved && _isNeedFixShoulderWorldTransform ) {
					if( leftArmBones.shoulder != null ) {
						leftArmBones.shoulder.forcefix_worldRotation();
					}
					if( rightArmBones.shoulder != null ) {
						rightArmBones.shoulder.forcefix_worldRotation();
					}
				}

				if( isSolved ) {
					_Bones_WriteToTransform();
				}
			}

			if( _fingerIK != null ) {
				_Bones_PrepareUpdate();

				bool isSolved = false;
				int fingerIKLength = _fingerIK.Length;
                for( int i = 0; i != fingerIKLength; ++i ) {
					if( _fingerIK[i] != null ) {
						isSolved |= _fingerIK[i].Solve();
					}
				}

				if( isSolved ) {
					_Bones_WriteToTransform();
				}
			}
		}

        void LateUpdate()
        {
#if UNITY_EDITOR
            if (!Application.isPlaying)
            {
                return;
            }
#endif

            FullBodyIK.Assert(_fullBodyIK != null);
            if (_fullBodyIK != null)
            {
                _fullBodyIK.Update();
            }
        }