Tnua was originally created with configurable up and forward directions. As part of the big refactor of version 0.10 (which introduced the basis/action model) I removed forward (although desired_forward still remains), ruling that the model's NEG_Z is always the forward. But up remains, and evidently from #40 it is not clear if it's the model's up or the world's up. Either way it's usually Y, so I suspect it may be mixed up in the code as well...
Since this turned out to be a big mess, I want to just remove the up parameter of TnuaBuiltinWalk. I'm ruling the up direction to always be positive Y.
Maybe in the future I'll make it possible to override the model's orientation, but that feature will need to be properly designed (and I'm not sure it's even really needed)
Tnua was originally created with configurable
upandforwarddirections. As part of the big refactor of version 0.10 (which introduced the basis/action model) I removedforward(althoughdesired_forwardstill remains), ruling that the model'sNEG_Zis always the forward. Butupremains, and evidently from #40 it is not clear if it's the model's up or the world's up. Either way it's usually Y, so I suspect it may be mixed up in the code as well...Since this turned out to be a big mess, I want to just remove the
upparameter ofTnuaBuiltinWalk. I'm ruling the up direction to always be positive Y.Maybe in the future I'll make it possible to override the model's orientation, but that feature will need to be properly designed (and I'm not sure it's even really needed)