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Merge pull request #39803 from TwistedTwigleg/3.2.skeleton_ik_scale_fix 

[3.2] Fixed SkeletonIK not working with scaled skeletons
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Rémi Verschelde 2020-07-06 16:16:57 +02:00 committed by GitHub
parent fcce1ca8c4 3dc466b244
commit 3a916152d8
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 1 deletions
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6
scene/animation/skeleton_ik.cpp
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@ -274,7 +274,7 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_
} else { } else {
// End effector in local transform // End effector in local transform
const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors.write[0].tip_bone)); const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors[0].tip_bone));
// Update the end_effector (local transform) by blending with current pose // Update the end_effector (local transform) by blending with current pose
p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta); p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
@ -331,6 +331,10 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis; new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
} }
// IK should not affect scale, so undo any scaling
new_bone_pose.basis.orthonormalize();
new_bone_pose.basis.scale(p_task->skeleton->get_bone_global_pose(ci->bone).basis.get_scale());
p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0, true); p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0, true);
if (!ci->children.empty()) if (!ci->children.empty())