solveFABRIK
public static boolean solveFABRIK(Array<Vector3f> positions, Vector3f target, Array<float> boneLengths)
Solves IK for a bone chain using the FABRIK algorithm.
Return
true if the solver converged, false if max iterations reached
Parameters
positions
Array of joint positions (size = bones + 1, includes end effector)
target
Target position for the end effector
boneLengths
Array of bone lengths