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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
doc/classes/JacobianIK3D.xml
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@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?> <?xml version="1.0" encoding="UTF-8" ?>
<class name="JacobianIK3D" inherits="IterateIK3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd"> <class name="JacobianIK3D" inherits="IterateIK3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description> <brief_description>
Pseudo inverse Jacobian matrix based inverse kinematics solver. Jacobian transpose based inverse kinematics solver.
</brief_description> </brief_description>
<description> <description>
[JacobianIK3D] calculates rotations for all joints simultaneously, producing natural and smooth movement. It is particularly suited for biological animations. [JacobianIK3D] calculates rotations for all joints simultaneously, producing natural and smooth movement. It is particularly suited for biological animations.

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; 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++) { for (int j = TAIL; j < chain_size; j++) {
Vector3 to_tail = p_setting->chain[j] - current_head; Vector3 to_tail = p_setting->chain[j] - current_head;