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Fixed IK when the parent has nonuniform scale and the child Y != 0.

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This commit is contained in:
NathanSweet 2016-04-12 23:26:08 +02:00
parent b22669711d
commit bf902936aa
1 changed files with 14 additions and 8 deletions
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22
spine-libgdx/spine-libgdx/src/com/esotericsoftware/spine/IkConstraint.java
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@ -137,7 +137,7 @@ public class IkConstraint implements Updatable {
* @param child A direct descendant of the parent bone. */
static public void apply (Bone parent, Bone child, float targetX, float targetY, int bendDir, float alpha) {
if (alpha == 0) return;
float px = parent.x, py = parent.y, psx = parent.scaleX, psy = parent.scaleY, csx = child.scaleX, cy = child.y;
float px = parent.x, py = parent.y, psx = parent.scaleX, psy = parent.scaleY;
int offset1, offset2, sign2;
if (psx < 0) {
psx = -psx;
@ -151,6 +151,13 @@ public class IkConstraint implements Updatable {
psy = -psy;
sign2 = -sign2;
}
float cx = child.x, cy = child.y, csx = child.appliedScaleX;
boolean u = Math.abs(psx - psy) <= 0.0001f;
if (!u && cy != 0) {
child.worldX = parent.a * cx + parent.worldX;
child.worldY = parent.c * cx + parent.worldY;
cy = 0;
}
if (csx < 0) {
csx = -csx;
offset2 = 180;
@ -175,7 +182,7 @@ public class IkConstraint implements Updatable {
}
float l1 = (float)Math.sqrt(dx * dx + dy * dy), l2 = child.data.length * csx, a1, a2;
outer:
if (Math.abs(psx - psy) <= 0.0001f) {
if (u) {
l2 *= psx;
float cos = (tx * tx + ty * ty - l1 * l1 - l2 * l2) / (2 * l1 * l2);
if (cos < -1)
@ -185,7 +192,6 @@ public class IkConstraint implements Updatable {
float a = l1 + l2 * cos, o = l2 * sin(a2);
a1 = atan2(ty * a - tx * o, tx * a + ty * o);
} else {
cy = 0;
float a = psx * l2, b = psy * l2, ta = atan2(ty, tx);
float aa = a * a, bb = b * b, ll = l1 * l1, dd = tx * tx + ty * ty;
float c0 = bb * ll + aa * dd - aa * bb, c1 = -2 * bb * l1, c2 = bb - aa;
@ -242,9 +248,9 @@ public class IkConstraint implements Updatable {
a2 = maxAngle * bendDir;
}
}
float offset = atan2(cy, child.x) * sign2;
a1 = (a1 - offset) * radDeg + offset1;
a2 = (a2 + offset) * radDeg * sign2 + offset2;
float o = atan2(cy, cx) * sign2;
a1 = (a1 - o) * radDeg + offset1;
a2 = (a2 + o) * radDeg * sign2 + offset2;
if (a1 > 180)
a1 -= 360;
else if (a1 < -180) a1 += 360;
@ -252,8 +258,8 @@ public class IkConstraint implements Updatable {
a2 -= 360;
else if (a2 < -180) a2 += 360;
float rotation = parent.rotation;
parent.updateWorldTransform(parent.x, parent.y, rotation + (a1 - rotation) * alpha, parent.scaleX, parent.scaleY);
parent.updateWorldTransform(px, py, rotation + (a1 - rotation) * alpha, parent.appliedScaleX, parent.appliedScaleY);
rotation = child.rotation;
child.updateWorldTransform(child.x, cy, rotation + (a2 - rotation) * alpha, child.scaleX, child.scaleY);
child.updateWorldTransform(cx, cy, rotation + (a2 - rotation) * alpha, child.appliedScaleX, child.appliedScaleY);
}
}