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This post was imported from a personal note. It may contain inside jokes, streams of consciousness, errors, and other nonsense.
I added some debugging output while I troubleshoot the IK with fixed segments. It’s causing a little bit of confusion that the fixed segment means the endpoint is fixed but not the pivot. It can still rotate but its endpoint should not be adjusted.
Cleaned up the code for updating endpoints and pivots based on the segments before or after, depending on whether you’re going from base to tip or vice versa.
Also, I turned off fitting the first segment to the base. That’s the bit where I’m okay to have some error. Error looks infinitely worse when the fixed segments move around.