fix: Fix Type4 IK

Apparently the cause was flipping over the rotation and target
in the struct definitions. Flipping them back causes the bug to
dissappear. This allows for future refactors to `BoneAnim` making all IK
animations use the same enum variant

.gitignore

@@ -4,4 +4,5 @@
 Cargo.lock
 tags
 *.bvh
-*.mot
+*.mot
+bone

examples/info.rs

@@ -85,11 +85,16 @@ fn main() -> Result<()> {
     };
     let get3 =  |x: &BoneAnim| match x {
         BoneAnim::Rotation(rot) => (get(&rot.x), get(&rot.y), get(&rot.z)),
+        BoneAnim::RotationIK {rotation, target} => (get(&rotation.x), get(&rotation.y), get(&rotation.z)),
+        BoneAnim::ArmIK {rotation, target} => (get(&rotation.x), get(&rotation.y), get(&rotation.z)),
         _ => unreachable!(),
     };
     println!("kl_hara_xz: {:?}", get3(qual.anims[2].1.as_ref().unwrap()));
     println!("kl_hara_etc: {:?}", get3(qual.anims[3].1.as_ref().unwrap()));
     println!("n_hara: {:?}", get3(qual.anims[4].1.as_ref().unwrap()));
+    println!("n_hara: {:?}", get3(qual.anims[6].1.as_ref().unwrap()));
+    println!("c_kata_l: {:?}", get3(qual.anims[104].1.as_ref().unwrap()));
+    println!("c_kata_r: {:?}", get3(qual.anims[137].1.as_ref().unwrap()));
     // for (id, anim) in qual.anims.iter_mut() {
     //     match anim {
     //         // Some(BoneAnim::Rotation(p)) => {

examples/mot.rs

@@ -89,7 +89,7 @@ fn main() -> Result<()> {
                 match anims.iter_mut().find(|(i, _)| *i == bone_id) {
                     Some((_, anim)) => match anim {
                         Some(BoneAnim::RotationIK { rotation, target }) => {
-                            debug!("setting {}'s target", name);
+                            debug!("ROIK: setting {}'s target", name);
                             *target = new_target
                         }
                         Some(BoneAnim::ArmIK { rotation, target }) => {
@@ -174,17 +174,14 @@ fn main() -> Result<()> {
                 let halfpi = std::f32::consts::PI;
                 let rotation = Vec3 {
                     x: FrameData::Pose(0.),
-                    y: FrameData::Pose(halfpi),
-                    z: FrameData::Pose(0.),
+                    y: FrameData::Pose(0.),
+                    z: FrameData::Pose(-halfpi),
                 };
                 let target = Vec3 {
                     x: FrameData::Pose(0.),
                     y: FrameData::Pose(0.),
                     z: FrameData::Pose(0.),
                 };
-                if name == "cl_mune" {
-                    dbg!(2);
-                }
                 anims.push((bone_id, Some(BoneAnim::RotationIK { rotation, target })));
             }
             BoneType::Type5 => {

src/qualified.rs

@@ -55,9 +55,9 @@ pub enum BoneAnim {
         rotation: Vec3,
     },
     RotationIK {
-        //Type4
-        rotation: Vec3, // guess
+        //Type4; target is first
         target: Vec3,
+        rotation: Vec3, // guess
     },
     ArmIK {
         //Type 5
@@ -127,8 +127,8 @@ impl Motion {
                         rotation: vec3(),
                     },
                     BoneType::Type4 => BoneAnim::RotationIK {
-                        rotation: vec3(),
                         target: vec3(),
+                        rotation: vec3(),
                     },
                     BoneType::Type5 => BoneAnim::ArmIK {
                         target: vec3(),

src/qualified/write.rs

@@ -74,8 +74,8 @@ impl BoneAnim {
                     rotation, // guess
                     target,
                 } => {
-                    rotation.write(&mut writer)?;
                     target.write(&mut writer)?;
+                    rotation.write(&mut writer)?;
                 }
                 ArmIK {
                     //Type 5
@@ -136,8 +136,8 @@ impl BoneAnim {
                 vec
             }
             RotationIK { rotation, target } => {
-                let mut vec = rotation.get_bits();
-                vec.append(&mut target.get_bits());
+                let mut vec = target.get_bits();
+                vec.append(&mut rotation.get_bits());
                 vec
             }
             ArmIK { rotation, target } => {
@@ -175,7 +175,7 @@ impl BoneAnim {
                 position.x, position.y, position.z, rotation.x, rotation.y, rotation.z,
             ],
             RotationIK { rotation, target } => vec![
-                rotation.x, rotation.y, rotation.z, target.x, target.y, target.z,
+                target.x, target.y, target.z, rotation.x, rotation.y, rotation.z,
             ], //rotationnown
             ArmIK { rotation, target } => vec![
                 target.x, target.y, target.z, rotation.x, rotation.y, rotation.z,