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Orthonormalize PhysicalBone3D transforms

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Aaron Franke 2023-10-06 15:39:46 -05:00
parent 313f623b9d
commit b015fba2c8
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GPG key ID: 40A1750B977E56BF
1 changed files with 6 additions and 3 deletions
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9
scene/3d/physics_body_3d.cpp
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@ -2239,11 +2239,14 @@ void PhysicalBone3D::reset_physics_simulation_state() {
void PhysicalBone3D::reset_to_rest_position() {
if (parent_skeleton) {
if (-1 == bone_id) {
set_global_transform(parent_skeleton->get_global_transform() * body_offset);
Transform3D new_transform = parent_skeleton->get_global_transform();
if (bone_id == -1) {
new_transform *= body_offset;
} else {
set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset);
new_transform *= parent_skeleton->get_bone_global_pose(bone_id) * body_offset;
}
new_transform.orthonormalize();
set_global_transform(new_transform);
}
}