The new IK solvers don't work as expected with a joint limitation

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1

Godot Version

v4.6.beta.mono.arch_linux [63227bbc8]

Question

Hi. The new IK chain solvers, such as FABRIK3D or JacobianIK3D, don’t seem to work as expected when the rotation is limited by a JointLimitationCone3D.

I added a FABRIK3D to my humanoid rig to fix its feet to target 3D nodes which works as intended initially:

image
image738×472 59.3 KB

However, when I restrict the rotation radius to prevent the joint from bending in the wrong way, it fails to solve proper positions for the end bones:

image
image738×472 61.4 KB

I think I got the joint cone’s orientation right, from the way the legs bend when I adjust its radius.

Could anyone help me with this problem?

Thanks in advance!