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Fixed SkeletonModification3DFABRIK.

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Relintai 2023-06-22 09:43:55 +02:00
parent e56d6fa906
commit d3f2e0e4fe
2 changed files with 9 additions and 7 deletions
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2
core/math/basis.cpp
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@ -416,7 +416,7 @@ void Basis::rotate_to_align(const Vector3 &p_start_direction, const Vector3 &p_e
real_t dot = p_start_direction.dot(p_end_direction);
dot = CLAMP(dot, -1.0, 1.0);
const real_t angle_rads = Math::acos(dot);
*this *= Basis(axis, angle_rads);
*this = Basis(axis, angle_rads) * (*this);
}
}

14
modules/skeleton_3d/resources/skeleton_modification_3d_fabrik.cpp
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@ -262,6 +262,7 @@ void SkeletonModification3DFABRIK::chain_apply() {
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
int current_bone_idx = fabrik_data_chain[i].bone_idx;
Transform current_trans = fabrik_transforms[i];
Transform current_bone_trans = stack->skeleton->get_bone_global_rest(current_bone_idx);
// If this is the last bone in the chain...
if (i == fabrik_data_chain.size() - 1) {
@ -270,10 +271,10 @@ void SkeletonModification3DFABRIK::chain_apply() {
stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx);
// Rotate the bone towards the target:
current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(target_global_pose.origin));
current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
current_bone_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(target_global_pose.origin));
current_bone_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
} else { // Use the target's Basis...
current_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale());
current_bone_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale());
}
} else { // every other bone in the chain...
Transform next_trans = fabrik_transforms[i + 1];
@ -282,10 +283,11 @@ void SkeletonModification3DFABRIK::chain_apply() {
stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx);
// Rotate the bone towards the next bone in the chain:
current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(next_trans.origin));
current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
current_bone_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(next_trans.origin));
current_bone_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
}
stack->skeleton->set_bone_local_pose_override(current_bone_idx, stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans), stack->strength, true);
current_bone_trans.origin = current_trans.origin;
stack->skeleton->set_bone_local_pose_override(current_bone_idx, stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_bone_trans), stack->strength, true);
}
// Update all the bones so the next modification has up-to-date data.