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Remove is_penetrated check from IK as role overlap/excessive behavior #113285

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Merged
akien-mga merged 1 commit into from
Dec 1, 2025
Merged

Remove is_penetrated check from IK as role overlap/excessive behavior #113285

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4 changes: 0 additions & 4 deletions scene/3d/iterate_ik_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -522,10 +522,6 @@ void IterateIK3D::_process_joints(double p_delta, Skeleton3D *p_skeleton, Iterat
double distance_to_target_sq = INFINITY;
int iteration_count = 0;

if (p_setting->is_penetrated(p_destination)) {
return;
}

// To prevent oscillation, if it has been processed at least once and target was reached, abort iterating.
if (p_setting->simulated) {
distance_to_target_sq = p_setting->chain[p_setting->chain.size() - 1].distance_squared_to(p_destination);
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25 changes: 0 additions & 25 deletions scene/3d/iterate_ik_3d.h
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Expand Up @@ -149,31 +149,6 @@ class IterateIK3D : public ChainIK3D {

bool simulated = false;

bool is_penetrated(const Vector3 &p_destination) {
bool ret = false;
Vector3 chain_dir = (chain[chain.size() - 1] - chain[0]).normalized();
bool is_straight = true;
for (uint32_t i = 1; i < chain.size() - 1; i++) {
Vector3 dir = (chain[i] - chain[0]).normalized();
if (!dir.is_equal_approx(chain_dir)) {
is_straight = false;
break;
}
}
if (is_straight) {
Vector3 to_target = (p_destination - chain[0]);
double proj = to_target.dot(chain_dir);
double total_length = 0;
for (uint32_t i = 0; i < solver_info_list.size(); i++) {
if (solver_info_list[i]) {
total_length += solver_info_list[i]->length;
}
}
ret = proj >= 0 && proj <= total_length && (to_target.normalized().is_equal_approx(chain_dir));
}
return ret;
}

// Make rotation as bone pose from chain coordinates.
// p_extra is delta angle limitation.
void cache_current_joint_rotations(Skeleton3D *p_skeleton, double p_angular_delta_limit = Math::PI) {
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