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a guest Feb 23rd, 2019 53 Never
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  1. FinalToRoot()
  2.     -> get the positions, but don't actually move any joints -- just cache the position
  3.  
  4. RootToFinal()
  5.     -> Get the next position using the cached vector (nextPos)
  6.     -> calculate rotation offset needed
  7.      
  8. Quaternion desiredLocalRotation =
  9.     transform.localRotation *
  10.     (Quaternion.Inverse(transform.rotation) * worldRotation);
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