Inverse Kinematics

Boa Noite :D, esta script esta dando um loop infinito no transform.rotation no objeto na qual eu coloco ela, que seria o INIMIGO.

Ela Inverte e faz o inimigo mirar para o player, porem ela envia as posisões  x,z,y  erradas no transform.rotation do INIMIGO e ele fica girando a parte do corpo na qual eu linkei "forearm "

Código:

#pragma strict

var forearm : Transform;
var hand : Transform;
var target : Transform;

var transition : float = 1.0;
var elbowAngle : float;

private var armIK : Transform;
private var armRotation : Transform;

private var upperArmLength : float;
private var forearmLength : float;
private var armLength : float;

function Start () {
 var armIKGameObject = new GameObject("IK");
 armIK = armIKGameObject.transform;
 armIK.parent = transform;
 var armRotationGameObject = new GameObject("Rotation");
 armRotation = armRotationGameObject.transform;
 armRotation.parent = armIK;
 upperArmLength = Vector3.Distance(transform.position, forearm.position);
 forearmLength = Vector3.Distance(forearm.position, hand.position);
 armLength = upperArmLength + forearmLength;
}

function Update () {

}

function LateUpdate(){
 //Store rotation before.
 var storeUpperArmRotation : Quaternion = transform.rotation;
 var storeForearmRotation : Quaternion = forearm.rotation;
 
 //Upper Arm looks target.
 armIK.position = transform.position;
 armIK.LookAt(forearm);
 armRotation.position = transform.position;
 armRotation.rotation = transform.rotation;
 armIK.LookAt(target);
 transform.rotation = armRotation.rotation;

 //Upper Arm angle.
 var targetDistance : float = Vector3.Distance(transform.position, target.position);
 targetDistance = Mathf.Min(targetDistance, armLength - 0.00001);
 var adjacent : float = ((upperArmLength*upperArmLength) - (forearmLength*forearmLength) + (targetDistance*targetDistance))/(2*targetDistance);
 var angle : float = Mathf.Acos(adjacent/upperArmLength) * Mathf.Rad2Deg;
 transform.RotateAround(transform.position, transform.forward, -angle);
 
 //Forearm looks target.
 armIK.position = forearm.position;
 armIK.LookAt(hand);
 armRotation.position = forearm.position;
 armRotation.rotation = forearm.rotation;
 armIK.LookAt(target);
 forearm.rotation = armRotation.rotation;
 
 //Elbow angle.
 transform.RotateAround(transform.position, target.position - transform.position, elbowAngle);
 
 //Transition rotations with animation rotation.
 transition = Mathf.Clamp01(transition);
 transform.rotation = Quaternion.Slerp(storeUpperArmRotation, transform.rotation, transition);
 forearm.rotation = Quaternion.Slerp(storeForearmRotation, forearm.rotation, transition);
}

Alguem pra dar uma dica?  :cyclops:

Opa, já arrumei a script :D Tópico Resolvido!