Bugfix: fixed some of the artifacts (unfortunately no all of them) that

appeared after IK constraint computation; the algorithm now selects the
best found solution among all iterations.

jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/definitions/ConstraintDefinitionIK.java

@@ -110,6 +110,8 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
             }
         }
 
+        List<Transform> bestSolution = new ArrayList<Transform>(bones.size());
+        double bestSolutionDistance = Double.MAX_VALUE;
         BoneContext topBone = bones.get(0);
         for (int i = 0; i < iterations && distanceFromTarget > MIN_DISTANCE; ++i) {
             for (BoneContext boneContext : bones) {
@@ -150,6 +152,20 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
             DTransform topBoneTransform = new DTransform(constraintHelper.getTransform(topBone.getArmatureObjectOMA(), topBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD));
             Vector3d e = topBoneTransform.getTranslation().addLocal(topBoneTransform.getRotation().mult(Vector3d.UNIT_Y).multLocal(topBone.getLength()));// effector
             distanceFromTarget = e.distance(t);
+            
+            if(distanceFromTarget < bestSolutionDistance) {
+                bestSolutionDistance = distanceFromTarget;
+                bestSolution.clear();
+                for(BoneContext boneContext : bones) {
+                    bestSolution.add(constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), boneContext.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD));
+                }
+            }
+        }
+        
+        // applying best solution
+        for(int i=0;i<bestSolution.size();++i) {
+            BoneContext boneContext = bones.get(i);
+            constraintHelper.applyTransform(boneContext.getArmatureObjectOMA(), boneContext.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD, bestSolution.get(i));
         }
     }