Expose IK solver options including DLS and SDLS.

examples/ThirdPartyLibs/BussIK/Jacobian.cpp

@@ -462,7 +462,8 @@ void Jacobian::CalcDeltaThetasSDLS()
 	// Calculate response vector dTheta that is the SDLS solution.
 	//	Delta target values are the dS values
 	int nRows = J.GetNumRows();
-	int numEndEffectors = m_tree->GetNumEffector();		// Equals the number of rows of J divided by three
+	// TODO: Modify it to work with multiple end effectors.
+	int numEndEffectors = 1;
 	int nCols = J.GetNumColumns();
 	dTheta.SetZero();