FABRIK - Forwards and Backwards Reaching Inverse Kinematics

The algorithm is the creation of Andreas Aristidou, you can read his paper here:
http://www.academia.edu/9165835/FABRIK_A_fast_iterative_solver_for_the_Inverse_Kinematics_problem

I've steadily made progress, now functioning with multiple end effectors, such that it can be useful with humanoid skeletons and beyond. Currently I've halted on applying rotational constraints, as I seldom have time to further work on it.

I'll admit, it's not too eloquent of a solution in its current state, as I specify end effector targets through hard-coded means. In this video I work with 8 different end effectors:

Have at this code, if not to be used, to at least be used as learning material. As in the footage above, I alter the 8 end effector targets in the Update function. If you wish to make contributions, please repost them here. Thank you!

Source: https://mega.co.nz/#!fY8wQQgJ!W-g6zalpjrL9mEPc4sQug1ZNlhbH3Rp84aaXuYQbk5I