fixed global to local position method

bone.cpp

@@ -30,7 +30,7 @@ namespace vb01{
 	Vector3 Bone::getModelSpacePos(){
 		Vector3 modelSpacePos = Vector3::VEC_ZERO;
 		Bone *rootBone = skeleton->getRootBone();
-		vector<Node*> boneHierarchy = getAncestors(this, rootBone->getParent());
+		vector<Node*> boneHierarchy = getAncestors(this, rootBone);
 
 		while(!boneHierarchy.empty()){
 			int id = boneHierarchy.size() - 1;

node.cpp

@@ -220,6 +220,8 @@ namespace vb01{
 	}
 
 	Vector3 Node::globalToLocalPosition(Vector3 globalPos){
+		Vector3 currentGlobalPos = localToGlobalPosition(Vector3::VEC_ZERO);
+
 		mat3 mat;
 		mat[0][0]=globalAxis[0].x;
 		mat[1][0]=globalAxis[0].y;
@@ -232,7 +234,7 @@ namespace vb01{
 		mat[2][2]=globalAxis[2].z;
 		mat=inverse(mat);
 
-		vec3 local = vec3(globalPos.x, globalPos.y, globalPos.z) * mat;
+		vec3 local = vec3(globalPos.x - currentGlobalPos.x, globalPos.y - currentGlobalPos.y, globalPos.z - currentGlobalPos.z) * mat;
 		return Vector3(local.x, local.y, local.z);
 	}
 

skeleton.cpp

@@ -108,6 +108,8 @@ namespace vb01{
 				rotAxis = Vector3::VEC_I;
 			}
 
+			//rotAxis = (boneChain[i]->getInitAxis(0) * rotAxis.x + boneChain[i]->getInitAxis(1) * rotAxis.y + boneChain[i]->getInitAxis(2) * rotAxis.z).norm();
+
 			boneAngles[i] = angle; 
 			axis[i] = rotAxis;
 		}