Refactor clamp_to_cos_angle to clamp_to_cos_half_angle

V-Sekai · Apr 7, 2024 · 6ab7915 · 6ab7915
1 parent e82006c
commit 6ab7915
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/ik_bone_segment_3d.cpp b/src/ik_bone_segment_3d.cpp
@@ -113,7 +113,7 @@ void IKBoneSegment3D::_update_optimal_rotation(Ref<IKBone3D> p_for_bone, double
 	_set_optimal_rotation(p_for_bone, &tip_headings, &target_headings, &heading_weights, p_damp, p_translate, p_constraint_mode);
 }
 
-Quaternion IKBoneSegment3D::clamp_to_cos_angle(Quaternion p_quat, double p_cos_half_angle) {
+Quaternion IKBoneSegment3D::clamp_to_cos_half_angle(Quaternion p_quat, double p_cos_half_angle) {
 	if (p_quat.w < 0.0) {
 		p_quat = p_quat * -1;
 	}
@@ -163,7 +163,7 @@ void IKBoneSegment3D::_set_optimal_rotation(Ref<IKBone3D> p_for_bone, PackedVect
 			Basis rotation = qcp.weighted_superpose(*r_htip, *r_htarget, *r_weights, p_translate);
 			Vector3 translation = qcp.get_translation();
 			double dampening = (p_dampening != -1.0) ? p_dampening : bone_damp;
-			rotation = clamp_to_cos_angle(rotation.get_rotation_quaternion(), cos(dampening / 2.0));
+			rotation = clamp_to_cos_half_angle(rotation.get_rotation_quaternion(), cos(dampening / 2.0));
 			p_for_bone->get_ik_transform()->rotate_local_with_global(rotation.get_rotation_quaternion());
 			Transform3D result = Transform3D(p_for_bone->get_global_pose().basis, p_for_bone->get_global_pose().origin + translation);
 			p_for_bone->set_global_pose(result);

diff --git a/src/ik_bone_segment_3d.h b/src/ik_bone_segment_3d.h
@@ -84,7 +84,7 @@ class IKBoneSegment3D : public Resource {
 public:
 	const double evec_prec = static_cast<double>(1E-6);
 	void update_pinned_list(Vector<Vector<double>> &r_weights);
-	static Quaternion clamp_to_cos_angle(Quaternion p_quat, double p_cos_half_angle);
+	static Quaternion clamp_to_cos_half_angle(Quaternion p_quat, double p_cos_half_angle);
 	static void recursive_create_headings_arrays_for(Ref<IKBoneSegment3D> p_bone_segment);
 	void create_headings_arrays();
 	void recursive_create_penalty_array(Ref<IKBoneSegment3D> p_bone_segment, Vector<Vector<double>> &r_penalty_array, Vector<Ref<IKBone3D>> &r_pinned_bones, double p_falloff);

diff --git a/src/ik_kusudama_3d.cpp b/src/ik_kusudama_3d.cpp
@@ -125,7 +125,7 @@ void IKKusudama3D::set_snap_to_twist_limit(Ref<IKNode3D> p_bone_direction, Ref<I
 	Basis align_rot = (global_twist_center.inverse() * global_transform_to_set.basis).orthonormalized();
 	Quaternion twist_rotation, swing_rotation; // Hold the ik transform's decomposed swing and twist away from global_twist_centers's global basis.
 	get_swing_twist(align_rot.get_rotation_quaternion(), Vector3(0, 1, 0), swing_rotation, twist_rotation);
-	twist_rotation = IKBoneSegment3D::clamp_to_cos_angle(twist_rotation, twist_half_range_half_cos);
+	twist_rotation = IKBoneSegment3D::clamp_to_cos_half_angle(twist_rotation, twist_half_range_half_cos);
 	Basis recomposition = (global_twist_center * (swing_rotation * twist_rotation)).orthonormalized();
 	Basis rotation = parent_global_inverse * recomposition;
 	p_to_set->set_transform(Transform3D(rotation, p_to_set->get_transform().origin));