Hacking on IK
Refactor bone-space matrix build until after first pass
Try to point with quats... not working
Still trying to point with quats
Still hacking, not working yet
Close, and super-slow
hacking
Factored out CalculateSpaces()
Create smaller calculate function
Use smaller calculate function
Don't forget the target bone
Properly apply rot diff
Disable steps hack
Convert IK Angles to Euler and Back
Load, and enforce, IK angle limits
Make sure to sync all bones attached to IK-affected bones
Iterate on each chain, not on all chains
Direct-calc of two-bone IK chains, based on reach and direction
Expand to direct-calc of 1-bone chains
Remove variable ambiguity