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Merge pull request #117959 from TokageItLab/fix-splineik

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Fix SplineIK crash cases
This commit is contained in:
Thaddeus Crews
2026-04-06 13:02:13 -05:00
parent 07b6f87522 15e587d4b0
commit abfb91d1e2
1 changed files with 21 additions and 20 deletions
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scene/3d/spline_ik_3d.cpp
+21 -20
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@@ -397,26 +397,7 @@ void SplineIK3D::_process_joints(double p_delta, Skeleton3D *p_skeleton, SplineI
bool is_fitting_first = HEAD == chain_path_start;
// Special case for out of path joints.
if (point_count == 1 || HEAD <= chain_path_start) {
// Set twist only for first fitting joint.
if (!is_fitting_first) {
p_setting->update_chain_coordinate(p_skeleton, TAIL, limit_length(p_setting->chain[HEAD], p_setting->chain[HEAD] + start_vector, solver_info->length));
}
if (p_setting->tilt_enabled) {
if (p_setting->tilt_fade_in < 0) {
p_setting->twists[HEAD] = 0.0;
} else if (p_setting->tilt_fade_in == 0) {
p_setting->twists[HEAD] = tilts[0];
} else {
// Decreases monotonically in a straight line, fetch the distance.
double fade_in_dumping = CLAMP((double)(p_setting->chain[HEAD].distance_to(start_point) / fade_in_denom), 0.0, 1.0);
p_setting->twists[HEAD] = Math::lerp((double)tilts[0], 0.0, fade_in_dumping);
}
}
if (!is_fitting_first) {
continue;
}
} else if (ended > 0) {
if (ended > 0) {
p_setting->update_chain_coordinate(p_skeleton, TAIL, limit_length(p_setting->chain[HEAD], p_setting->chain[HEAD] + end_vector, solver_info->length));
if (p_setting->tilt_enabled) {
if (p_setting->tilt_fade_out < 0) {
@@ -436,6 +417,26 @@ void SplineIK3D::_process_joints(double p_delta, Skeleton3D *p_skeleton, SplineI
}
}
continue;
} else if (point_count == 1 || HEAD <= chain_path_start) {
// Set twist only for first fitting joint.
bool update_coordinate = !is_fitting_first || point_count == 1;
if (update_coordinate) {
p_setting->update_chain_coordinate(p_skeleton, TAIL, limit_length(p_setting->chain[HEAD], p_setting->chain[HEAD] + start_vector, solver_info->length));
}
if (p_setting->tilt_enabled) {
if (p_setting->tilt_fade_in < 0) {
p_setting->twists[HEAD] = 0.0;
} else if (p_setting->tilt_fade_in == 0) {
p_setting->twists[HEAD] = tilts[0];
} else {
// Decreases monotonically in a straight line, fetch the distance.
double fade_in_dumping = CLAMP((double)(p_setting->chain[HEAD].distance_to(start_point) / fade_in_denom), 0.0, 1.0);
p_setting->twists[HEAD] = Math::lerp((double)tilts[0], 0.0, fade_in_dumping);
}
}
if (update_coordinate) {
continue;
}
}
// General case.