Remove is_penetrated check from IK as role overlap/excessive behavior
#113285
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lyuma
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Nov 28, 2025
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approved in meeting.
the angular limit can be used for users who are running into trouble with penetration, so I think this change is safe.
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In the early implementation of IK,
angular_delta_limitwas not present, allowing rotations of up to 180 degrees always. In that case, it seemed preferable to have this for stability.However, with the implementation of
angular_delta_limitand LimitAngularVelocityModifier3D, this check has become less important and is instead causing issues where calculations are not performed in reachable states (especially with FABRIK). Therefore, I will remove theis_penetratedcheck.The following video shows the results under the same settings:
Before:
check.mp4
After fix:
nocheck.mp4