-void inverseKinematic(Model::Node &root, Model::Node &end, vec3 target) {
- /* float s2o2 = sqrt(2.f) / 2.f; */
- /* assert(getRotationToPoint({1, 0, 0}, {0, s2o2, s2o2}, 1) */
- /* == mat4({0, s2o2, s2o2, 0}, { -s2o2, 1.f/2.f, -1.f/2.f, 0}, */
- /* {-s2o2, -1.f/2.f, 1.f/2.f, 0}, { 0, 0, 0, 1})); */
-
- std::vector<Model::Node> chain = allNodesTo(root, end);
+// Target is world position
+void inverseKinematic(Model::Node &start, Model::Node &end, vec3 target) {
+ std::vector<Model::Node> chain = allNodesTo(start, end);