TorqueGameEngines/Torque3D
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Required changes for Inverse Kinematics

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Added a * operator
compute from to -> adds safeties around shortestArc
conjugate -> reverses the xyz of the quaternion

IK Solver commit

Added: IKChain struct to tsshape
commands to tsshapeconstruct to create and setup ikchains
ik solvers -> ccd and fabrik, these are in their own file tsIKSolver

TODO: there needs to be some tooling added to the shape editor for this
This commit is contained in:
marauder2k7 2025-12-04 08:29:44 +00:00
parent 42e8687067
commit 9866908e99
10 changed files with 1048 additions and 1 deletions
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13
Engine/source/ts/tsAnimate.cpp
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@ -866,8 +866,21 @@ void TSShapeInstance::animate(S32 dl)
// animate nodes?
if (dirtyFlags & TransformDirty)
{
animateNodes(ss);
//---------------------------------------
// TODO: Implement different ik methods
// add limits to ik chain nodes
// cache bone lengths.
//---------------------------------------
for (U32 i = 0; i < mShape->ikChains.size(); i++)
{
if (mShape->ikChains[i].enabled)
solveCCD(mShape->ikChains[i]);
}
}
// animate objects?
if (dirtyFlags & VisDirty)
animateVisibility(ss);