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remove a redundant acos() call in SolveTwoBoneIK calculate sinAlpha directly from cosAlpha
propagate negations all the way back into poleDir negate sinAlpha to counteract
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Nice, nice to see a separate PR for this. Do you have any before and after screenshots, because I'm wondering if there's any visual differences. The readability fixes are nice, but readability is more important then saving a tiny fraction of CPU cycles and I don't want to encourage people to potentially breaking changes over it. |
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There's no visual differences. It just replaces three costly trig calls with a single, less costly sqrt call, and makes the code a bit cleaner by adjusting how the pole vector is represented rather than manually inverting the bone rotation axis. |
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Remove redundant calls to acos and cos by using the calculated cosine value directly
Remove call to sin by calculating the sine from the cosine directly
Back-propagate arm inversion fix into poleDir to correct the IK code