@@ -208,28 +208,14 @@ function IkConstraint:apply2 (parent, child, targetX, targetY, bendDir, alpha)
end
if not skip then
- local minAngle = 0
- local minDist = 9999999999
- local minX = 0
- local minY = 0
+ local minAngle = math_pi
+ local minX = l1 - a
+ local minDist = minX * minX
+ local minY = 0;
local maxAngle = 0
- local maxDist = 0
- local maxX = 0
- local maxY = 0
- x = l1 + a
- d = x * x
- if d > maxDist then
- maxAngle = 0
- maxDist = d
- maxX = x
- end
- x = l1 - a
- if d < minDist then
- minAngle = math_pi
- minDist = d
- minX = x
+ local maxX = l1 + a
+ local maxDist = maxX * maxX
+ local maxY = 0
local angle = math_acos(-a * l1 / (aa - bb))
x = a * math_cos(angle) + l1
y = b * math_sin(angle)