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Fixed SkeletonIK not rotating correctly when solving

This commit is contained in:
TwistedTwigleg 2021-10-04 10:22:51 -04:00
parent 66ab3ce954
commit 92a79ace5b
1 changed files with 4 additions and 8 deletions
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12
scene/3d/skeleton_ik_3d.cpp
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@ -291,14 +291,10 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
new_bone_pose.origin = ci->current_pos; new_bone_pose.origin = ci->current_pos;
if (!ci->children.is_empty()) { if (!ci->children.is_empty()) {
/// Rotate basis p_task->skeleton->update_bone_rest_forward_vector(ci->bone);
const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized()); Vector3 forward_vector = p_task->skeleton->get_bone_axis_forward_vector(ci->bone);
const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized()); // Rotate the bone towards the next bone in the chain:
new_bone_pose.basis.rotate_to_align(forward_vector, new_bone_pose.origin.direction_to(ci->children[0].current_pos));
if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
new_bone_pose.basis.rotate(rot_axis, rot_angle);
}
} else { } else {
// Set target orientation to tip // Set target orientation to tip