Merge pull request 'feature/animations_update' (#17) from feature/animations_update into develop

Reviewed-on: #17

AnimationFix.gd

@@ -0,0 +1,69 @@
+extends Node
+
+@export_node_path("Node2D")
+var target_node_path = NodePath()
+
+@export var flip_bend_direction = false
+@export var joint_one_bone_index = -1
+@export var joint_two_bone_index = -1
+
+var _angle_a = 0.0
+var _angle_b = 0.0
+
+
+func _process(delta: float) -> void:
+	_update_two_bone_ik_angles()
+
+
+func _update_two_bone_ik_angles():
+	assert(joint_one_bone_index != -1)
+	assert(joint_two_bone_index != -1)
+	
+	if target_node_path.is_empty():
+		return
+	
+	var target = get_node(target_node_path) as Node2D
+	var bone_a = get_parent().get_bone(joint_one_bone_index)
+	var bone_b = get_parent().get_bone(joint_two_bone_index)
+	
+	var bone_a_len = bone_a.get_length()
+	var bone_b_len = bone_b.get_length()
+	
+	var sin_angle2 = 0.0
+	var cos_angle2 = 1.0
+	
+	_angle_b = 0.0
+	
+	var cos_angle2_denom = 2.0 * bone_a_len * bone_b_len
+	if not is_zero_approx(cos_angle2_denom):
+		var target_len_sqr = _distance_squared_between(bone_a, target)
+		var bone_a_len_sqr = bone_a_len * bone_a_len
+		var bone_b_len_sqr = bone_b_len * bone_b_len
+		
+		cos_angle2 = (target_len_sqr - bone_a_len_sqr - bone_b_len_sqr) / cos_angle2_denom
+		cos_angle2 = clamp(cos_angle2, -1.0, 1.0);
+		
+		_angle_b = acos(cos_angle2)
+		if flip_bend_direction:
+			_angle_b = -_angle_b
+		
+		sin_angle2 = sin(_angle_b)
+	
+	var tri_adjacent = bone_a_len + bone_b_len * cos_angle2
+	var tri_opposite = bone_b_len * sin_angle2
+	
+	var xform_inv = bone_a.get_parent().global_transform.affine_inverse()
+	var target_pos = xform_inv * target.global_position - bone_a.position
+	
+	var tan_y = target_pos.y * tri_adjacent - target_pos.x * tri_opposite
+	var tan_x = target_pos.x * tri_adjacent + target_pos.y * tri_opposite
+	_angle_a = atan2(tan_y, tan_x)
+	
+	var bone_a_angle = bone_a.get_bone_angle()
+	var bone_b_angle = bone_b.get_bone_angle()
+	bone_a.rotation = _angle_a - bone_a_angle
+	bone_b.rotation = _angle_b - angle_difference(bone_a_angle, bone_b_angle)
+
+
+func _distance_squared_between(node_a: Node2D, node_b: Node2D) -> float:
+	return node_a.global_position.distance_squared_to(node_b.global_position)

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