4.6+ IK rigging - order of chains affects result - workaround?

Godot Version

4.7 Dev 4

Question

Hello,

I have a rig for a martian tripod and I’ve got it more or less working with inverse kinematics, except for some reason the different IK chains have differing effects on the overall rig. Well, I guess it’s not “for some reason”, the documentation clearly states

“Base class of SkeletonModifier3D to approach the goal by repeating small rotations.

Each bone chain (setting) has one effector, which is processed in order of the setting list. You can set some limitations for each joint.”

However, Blender can solve my IK chains simultaneously in real time. It would be really nice if I could get Godot to behave similarly to Blender in this regard. I confess I’m not great at rigging, in fact, i’ve never rigged a model before yesterday, so if I’m doing it wrong, please let me know.

See these unlisted youtube videos for an example of godot vs blender solving my rig, thanks.

Godot

Blender