franklinblanco
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bevy_mod_inverse_kinematics
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forgot to normalize an axis

This commit is contained in:
Bram Buurlage 2022-09-17 21:33:02 +02:00
parent d38a17e812
commit 87c0a0dffe
1 changed files with 6 additions and 5 deletions
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11
src/lib.rs
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@ -127,7 +127,7 @@ impl IkConstraint {
);
let forward = (target - from_position).normalize();
let up = forward.cross(pt.normal);
let up = forward.cross(pt.normal).normalize();
let right = up.cross(forward);
let orientation = Mat3::from_cols(right, up, forward) * Mat3::from_rotation_z(pt.angle);
@ -172,9 +172,10 @@ impl Plugin for InverseKinematicsPlugin {
fn build(&self, app: &mut App) {
app.add_plugin(DebugLinesPlugin::default());
app.add_system_to_stage(
CoreStage::PostUpdate,
inverse_kinematics_solver_system.after(TransformSystem::TransformPropagate),
);
// app.add_system_to_stage(
// CoreStage::PostUpdate,
// inverse_kinematics_solver_system.after(TransformSystem::TransformPropagate),
// );
app.add_system(inverse_kinematics_solver_system);
}
}