From 2716a9f2b4ec049d1c2e8b934e5707f23e1799a4 Mon Sep 17 00:00:00 2001
From: "U-GAPOS\\andrew" <andrew@highfidelity.io>
Date: Mon, 9 Nov 2015 13:11:03 -0800
Subject: [PATCH] fix IK for feet targets

---
 libraries/animation/src/AnimInverseKinematics.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 6355426dae..691197a651 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -160,7 +160,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
                 continue;
             }
             int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
-            if (pivotsParentIndex == -1 || pivotIndex == _hipsIndex) {
+            if (pivotsParentIndex == -1) {
                 // TODO?: handle case where tip's parent is root?
                 continue;
             }
@@ -173,7 +173,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
             glm::quat tipParentRotation = absolutePoses[pivotIndex].rot;
 
             // descend toward root, pivoting each joint to get tip closer to target
-            while (pivotsParentIndex != _hipsIndex && pivotsParentIndex != -1) {
+            while (pivotsParentIndex != -1) {
                 // compute the two lines that should be aligned
                 glm::vec3 jointPosition = absolutePoses[pivotIndex].trans;
                 glm::vec3 leverArm = tipPosition - jointPosition;
@@ -285,7 +285,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
         // only update the absolutePoses that need it: those between lowestMovedIndex and _maxTargetIndex
         for (int i = lowestMovedIndex; i <= _maxTargetIndex; ++i) {
             int parentIndex = _skeleton->getParentIndex(i);
-            if (parentIndex != -1 && parentIndex != _hipsIndex) {
+            if (parentIndex != -1) {
                 absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
             }
         }
@@ -295,7 +295,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
     for (auto& target: targets) {
         int tipIndex = target.getIndex();
         int parentIndex = _skeleton->getParentIndex(tipIndex);
-        if (parentIndex != -1 && parentIndex != _hipsIndex) {
+        if (parentIndex != -1) {
             const glm::quat& targetRotation = target.getRotation();
             // compute tip's new parent-relative rotation
             // Q = Qp * q   -->   q' = Qp^ * Q