Studio_SolveIK

/* Studio_SolveIK(int, int, int, Vector&, matrix3x4_t*) */

undefined4 Studio_SolveIK(int param_1,int param_2,int param_3,Vector *param_4,matrix3x4_t *param_5)

{
  undefined4 uVar1;
  float fVar2;
  float fVar3;
  float fVar4;
  float fVar5;
  float fVar6;
  float fVar7;
  float fVar8;
  float fVar9;
  float local_34;
  float local_30;
  float local_2c;
  float local_28;
  float local_24;
  float local_20;
  
  local_34 = *(float *)(param_5 + param_2 * 0x30 + 0xc);
  local_30 = *(float *)(param_5 + param_2 * 0x30 + 0x1c);
  local_2c = *(float *)(param_5 + param_2 * 0x30 + 0x2c);
  local_28 = local_34 - *(float *)(param_5 + param_1 * 0x30 + 0xc);
  local_24 = local_30 - *(float *)(param_5 + param_1 * 0x30 + 0x1c);
  local_20 = local_2c - *(float *)(param_5 + param_1 * 0x30 + 0x2c);
  fVar2 = SQRT(local_24 * local_24 + local_28 * local_28 + local_20 * local_20);
  fVar3 = *(float *)(param_5 + param_3 * 0x30 + 0xc) - local_34;
  fVar9 = *(float *)(param_5 + param_3 * 0x30 + 0xc) - *(float *)(param_5 + param_1 * 0x30 + 0xc);
  fVar4 = *(float *)(param_5 + param_3 * 0x30 + 0x1c) - local_30;
  fVar8 = *(float *)(param_5 + param_3 * 0x30 + 0x1c) - *(float *)(param_5 + param_1 * 0x30 + 0x1c);
  fVar5 = *(float *)(param_5 + param_3 * 0x30 + 0x2c) - local_2c;
  uVar1 = 0;
  fVar7 = *(float *)(param_5 + param_3 * 0x30 + 0x2c) - *(float *)(param_5 + param_1 * 0x30 + 0x2c);
  fVar6 = SQRT(fVar8 * fVar8 + fVar9 * fVar9 + fVar7 * fVar7);
  if (fVar6 <= (SQRT(fVar4 * fVar4 + fVar3 * fVar3 + fVar5 * fVar5) + fVar2) * 0.9998) {
    fVar2 = fVar2 / fVar6;
    local_28 = local_28 - fVar9 * fVar2;
    local_20 = local_20 - fVar2 * fVar7;
    local_24 = local_24 - fVar8 * fVar2;
    VectorNormalize((Vector *)&local_28);
    uVar1 = Studio_SolveIK(param_1,param_2,param_3,param_4,(Vector *)&local_34,(Vector *)&local_28,
                           param_5);
  }
  return uVar1;
}