ik test for index finger

does not work yet due to bug in Godot: godotengine/godot#60180

addons/godot-xr-physical-movement-kit/scripts/Hand.gd

@@ -179,38 +179,65 @@ func process_bones(bone_id, delta):
 
 	if bone_id == 0:
 		# wrist bone uses global override as we always need it to be exactly on Wrist RigidBody
-		physical_skeleton.set_bone_global_pose_override(bone_id, wrist.global_transform, 1.0, false)
+#		physical_skeleton.set_bone_global_pose_override(bone_id, wrist.global_transform, 1.0, false)
+		physical_skeleton.set_bone_pose_position(bone_id, wrist.global_transform.origin)
+		physical_skeleton.set_bone_pose_rotation(bone_id, Quaternion(wrist.global_transform.basis))
 	else:
 		physical_skeleton.set_bone_pose_position(bone_id, controller_skeleton.get_bone_pose_position(bone_id))
 		physical_skeleton.set_bone_pose_rotation(bone_id, controller_skeleton.get_bone_pose_rotation(bone_id))
 
-	# freezing fingers around grabbed objects
-	var bone_raycasts = physical_bone_collider.get_node("RayCasts").get_children()
-	# for every raycast in physical bone
-	for raycast in bone_raycasts:
-		# check if any of them is detecting collision
-		raycast.force_raycast_update()
-		if raycast.get_collider():
-			# if yes, we will freeze this bone and backward bones
-			# first, we check which finger this bone belongs to
-			var finger = finger_from_bone[bone_id]
-
-			# we iterate through every bone in this finger
-			for finger_bone in finger_bones[finger]:
-				# only process bones which are backwards from colliding bone (or the colliding bone itself)
-				if finger_bone <= bone_id:
-					# check if we already have frozen pose for this bone
-					if !freezed_poses.has(finger_bone):
-						# if not, save current bone pose to freezed poses
-						freezed_poses[finger_bone] = controller_skeleton.get_bone_global_pose(finger_bone)
+	# IK Skeleton
+	if bone_id == 9:
+		if physical_skeleton.get_node_or_null("BoneAttachment3D " + String.num_int64(bone_id)):
+			var skeletonik: SkeletonIK3D = physical_skeleton.get_node("SkeletonIK3D " + String.num_int64(bone_id))
+			var finger_tip_raycasts = physical_skeleton.get_node("BoneAttachment3D " + String.num_int64(bone_id)).get_children()
+			var target_ik_node = physical_skeleton.get_node_or_null("BoneAttachment 0/TargetIK " + String.num_int64(bone_id))
+			var apply_ik: bool = false
+
+			for raycast in finger_tip_raycasts:
+				raycast.force_raycast_update()
+				if raycast.get_collider():
+					apply_ik = true
 
-					# if player is grabbing, only then we freeze fingers on previously detected collision points
-					if state.grabbing:	
-						# apply freezed pose to current bone
-						controller_skeleton.set_bone_global_pose_override(finger_bone, freezed_poses[finger_bone], 1.0, true)
+					skeletonik.set_target_transform(Transform3D(Basis.IDENTITY, raycast.get_collision_point()))
+					skeletonik.set_interpolation(0.5)
+					skeletonik.start()
+					break
+
+#			if !apply_ik:
+#				skeletonik.stop()
 
-			# if one raycast is detecting collision already, we don't need to check others
-			break
+
+
+
+
+	# freezing fingers around grabbed objects
+#	var bone_raycasts = physical_bone_collider.get_node("RayCasts").get_children()
+#	# for every raycast in physical bone
+#	for raycast in bone_raycasts:
+#		# check if any of them is detecting collision
+#		raycast.force_raycast_update()
+#		if raycast.get_collider():
+#			# if yes, we will freeze this bone and backward bones
+#			# first, we check which finger this bone belongs to
+#			var finger = finger_from_bone[bone_id]
+#
+#			# we iterate through every bone in this finger
+#			for finger_bone in finger_bones[finger]:
+#				# only process bones which are backwards from colliding bone (or the colliding bone itself)
+#				if finger_bone <= bone_id:
+#					# check if we already have frozen pose for this bone
+#					if !freezed_poses.has(finger_bone):
+#						# if not, save current bone pose to freezed poses
+#						freezed_poses[finger_bone] = controller_skeleton.get_bone_global_pose(finger_bone)
+#
+#					# if player is grabbing, only then we freeze fingers on previously detected collision points
+#					if state.grabbing:	
+#						# apply freezed pose to current bone
+#						controller_skeleton.set_bone_global_pose_override(finger_bone, freezed_poses[finger_bone], 1.0, true)
+#
+#			# if one raycast is detecting collision already, we don't need to check others
+#			break
 
 func unfreeze_bones():
 	controller_skeleton.clear_bones_global_pose_override()