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owner
2026-03-16 03:51:03 -04:00
parent e934d436ed
commit a625304bfb
1 changed files with 6 additions and 3 deletions
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9
src/PoseManager.cpp
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@@ -157,9 +157,12 @@ void PoseManager::applyPose() {
osg::Quat newRot = bindRot * pose.rotation; osg::Quat newRot = bindRot * pose.rotation;
osg::Vec3 newTrans = bindTrans + pose.translation; osg::Vec3 newTrans = bindTrans + pose.translation;
// Build clean TRS matrix — no manual scale baking which causes shear // rotate * translate is wrong (rotates around world origin).
bone->setMatrix( // The bind matrix already encodes the local-space pivot correctly,
osg::Matrix::rotate(newRot) * // so just pre-multiply the bind matrix by the rotation delta.
// This rotates the bone around its own local origin (joint pivot).
osg::Matrix rotDelta; rotDelta.makeRotate(pose.rotation);
bone->setMatrix(rotDelta * bind);
osg::Matrix::translate(newTrans)); osg::Matrix::translate(newTrans));
} }
} }