From f6ebfa09aeb106417003248ff7d287959a1db09b Mon Sep 17 00:00:00 2001 From: hodasemi Date: Mon, 18 Jun 2018 08:17:40 +0200 Subject: [PATCH] Fix endeffector location when endeffector is transformed --- CGII/src/IKViewer.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/CGII/src/IKViewer.cpp b/CGII/src/IKViewer.cpp index c4b1100..157f33f 100644 --- a/CGII/src/IKViewer.cpp +++ b/CGII/src/IKViewer.cpp @@ -143,8 +143,7 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector) Bone *bone = endeffector_tree[endeffector_index]; - //for (int i = bone->dof_count() - 1; i >= 0; i--) - for (int i = 0; i < bone->dof_count(); i++) + for (int i = bone->dof_count() - 1; i >= 0; i--) { kinematic_chain.emplace_front(bone->get_dof(i)); } @@ -173,7 +172,6 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector) std::shared_ptr inverse_static = std::shared_ptr(new StaticTransform(inv(bone->calculate_transform_prev_to_current_without_dofs()))); kinematic_chain.emplace_front(inverse_static); - //for (int i = bone->dof_count() - 1; i >= 0; i--) for (int i = 0; i < bone->dof_count(); i++) { Transform *tmp = new InverseTransform(bone->get_dof(i));