From 25b5cb4762a0969609bfcc9ce474edabaf4f1d02 Mon Sep 17 00:00:00 2001 From: "Anthony J. Thibault" Date: Tue, 1 Aug 2017 13:17:33 -0700 Subject: [PATCH] Switch order of precondition and setSecondaryTargets --- libraries/animation/src/AnimInverseKinematics.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp index 74fbf00067..d17fbebf3a 100644 --- a/libraries/animation/src/AnimInverseKinematics.cpp +++ b/libraries/animation/src/AnimInverseKinematics.cpp @@ -1056,8 +1056,9 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars { PROFILE_RANGE_EX(simulation_animation, "ik/ccd", 0xffff00ff, 0); - preconditionRelativePosesToAvoidLimbLock(context, targets); setSecondaryTargets(context); + preconditionRelativePosesToAvoidLimbLock(context, targets); + solve(context, targets, dt, jointChainInfoVec); } @@ -1610,7 +1611,7 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c const vec4 GREEN(0.0f, 1.0f, 0.0f, 1.0f); const vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f); const vec4 GRAY(0.2f, 0.2f, 0.2f, 1.0f); - const float AXIS_LENGTH = 2.0f; // cm + const float AXIS_LENGTH = 10.0f; // cm // draw each pose for (int i = 0; i < (int)poses.size(); i++) {