From 87c0a0dffe483955e07495300d0e1f7451eec1b2 Mon Sep 17 00:00:00 2001 From: Bram Buurlage Date: Sat, 17 Sep 2022 21:33:02 +0200 Subject: [PATCH] forgot to normalize an axis --- src/lib.rs | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/lib.rs b/src/lib.rs index 8641e19..fadffd5 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -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); } }