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changed IK axis calculation

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devZoGok
2021-10-19 19:06:41 +03:00
parent 9eb87999cf
commit 47dfabf73c
1 changed files with 1 additions and 4 deletions
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skeleton.cpp
+1 -4
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@@ -21,9 +21,6 @@ namespace vb01{
}
void Skeleton::solveIk(Bone *ikBone){
Bone *rootBone = getRootBone();
Node *model = rootBone->getParent();
const int chainLength = ikBone->getIkChainLength();
Bone *ikTarget = ikBone->getIkTarget();
Bone *boneChain[chainLength];
@@ -97,7 +94,7 @@ namespace vb01{
for(int i = chainLength - 1; i >= 0; i--){
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneIkPos[i]).norm();
Vector3 boneAxis = boneChain[i]->getInitAxis(1);
Vector3 rotAxis = dir.cross(boneAxis).norm();
Vector3 rotAxis = boneAxis.cross(dir).norm();
float angle = boneAxis.getAngleBetween(dir);
if(rotAxis == Vector3::VEC_ZERO){