ithub.com/FedUni/caliko/blob/master/caliko/src/main/java/au/edu/federation/caliko/FabrikStructure3D.java
// TODO: Look at this https://github.com/yamahigashi/fabric-fabrik-fullbody-ik/blob/master/Exts/Solvers/FABRIKClosedLoopSolver.kl
class ClosedFabrikSolver{
    // #region MAIN
    maxIteration      = 2;
    effectorBone      = -1;
    _effectorIdx      = -1;
    _targetPos        = [0,0,0];
    _bonePos          = null;
    _rootAnchorDistance = 0;
    _rootPos          = [0,0,0];
    
    constructor(){