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Solving IK Chains
Once a chain exists and contains one or more bones, it can be solved by calling the solveForTarget() method
and providing it a target location to solve the chain for. Targets may be specified as Vec2f or Vec3f objects,
or as floats.
If multiple chains exists in a structure, then calling solveForTarget() along with a target location results
in each chain in the structure being solved in a first-in-first-solved manner for the same target location.
However, if a chain in a structure has the useEmbeddedTarget mode enabled, then the chain will be solved for its
own embedded target location rather than any provided target. In this manner, a structure may contain a combination of
chains which can be solved for the specified target or their own embedded target location with a single call to
solveForTarget() on the structure. If all chains in a structure use embedded targets then the provided target location
is effectively ignored.
Chains that use embedded targets may update their targets via the chain’s updateEmbededTarget() method,
and individual chains may be solved for their embedded targets via a call to solveForEmbeddedTarget().