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Merge pull request #112573 from TokageItLab/fix-jacobian-gradient

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Fix JacobianIK to apply gradient correctly
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Thaddeus Crews
2025-11-13 17:43:04 -06:00
parent 3cc90cd925 069206bc74
commit 0b5ad6c73c
2 changed files with 2 additions and 2 deletions
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2
scene/3d/jacobian_ik_3d.cpp
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@ -54,7 +54,7 @@ void JacobianIK3D::_solve_iteration(double p_delta, Skeleton3D *p_skeleton, Iter
continue;
}
Quaternion to_rot = Quaternion(axis.normalized(), axis.length() / MAX(CMP_EPSILON, head_to_effector.length()));
Quaternion to_rot = Quaternion(axis.normalized(), MIN(axis.length() / MAX(CMP_EPSILON, head_to_effector.length_squared()), angular_delta_limit)); // Clip by angular_delta_limit for stability.
for (int j = TAIL; j < chain_size; j++) {
Vector3 to_tail = p_setting->chain[j] - current_head;