SkeletonIK3D target rotates on incorrect axis

[lyuma]

Tested versions

reproducible in 4.1.1 and 4.2.1 (IK was nonfunctional in 4.0)

System information

Godot v4.2.1.stable - Windows 10.0.19045 - Vulkan (Forward+) - dedicated NVIDIA GeForce RTX 3090 (NVIDIA; 31.0.15.3713) - Intel(R) Core(TM) i9-9900K CPU @ 3.60GHz (16 Threads)

Issue description

The rotation of the target rotates the end effector on what seems to be an incorrect axis. For example, rotating about the Y axis seems to rotate the bone about the Z axis instead.

May be related to #54891

Steps to reproduce

1. Open the test project (Imported VRM + SkeletonIK3D node + Node3D target)
2. Open test.tscn
3. Select SkeletonIK3D
4. Click "Play IK" in the 3d scene toolbar
5. Select the target "Node3D"
6. rotate it on the red or blue axes
7. You will see the foot rotates about the incorrect axis.

Minimal reproduction project (MRP)

skeletonik3d_issue.zip