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Add IKModifier3D

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Silc Lizard (Tokage) Renew
2025-09-10 09:46:41 +09:00
parent 08705259f2
commit bf22eb25e3
69 changed files with 6066 additions and 179 deletions
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39
scene/3d/bone_constraint_3d.cpp
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@@ -270,45 +270,6 @@ void BoneConstraint3D::_process_constraint(int p_index, Skeleton3D *p_skeleton,
//
}
double BoneConstraint3D::symmetrize_angle(double p_angle) {
double angle = Math::fposmod(p_angle, Math::TAU);
return angle > Math::PI ? angle - Math::TAU : angle;
}
double BoneConstraint3D::get_roll_angle(const Quaternion &p_rotation, const Vector3 &p_roll_axis) {
// Ensure roll axis is normalized.
Vector3 roll_axis = p_roll_axis.normalized();
// Project the quaternion rotation onto the roll axis.
// This gives us the component of rotation around that axis.
double dot = p_rotation.x * roll_axis.x +
p_rotation.y * roll_axis.y +
p_rotation.z * roll_axis.z;
// Create a quaternion representing just the roll component.
Quaternion roll_component;
roll_component.x = roll_axis.x * dot;
roll_component.y = roll_axis.y * dot;
roll_component.z = roll_axis.z * dot;
roll_component.w = p_rotation.w;
// Normalize this component.
double length = roll_component.length();
if (length > CMP_EPSILON) {
roll_component = roll_component / length;
} else {
return 0.0;
}
// Extract the angle.
double angle = 2.0 * Math::acos(CLAMP(roll_component.w, -1.0, 1.0));
// Determine the sign.
double direction = (roll_component.x * roll_axis.x + roll_component.y * roll_axis.y + roll_component.z * roll_axis.z > 0) ? 1.0 : -1.0;
return symmetrize_angle(angle * direction);
}
BoneConstraint3D::~BoneConstraint3D() {
clear_settings();
}