{"action":"closed","issue":{"url":"https://api.github.com/repos/FedUni/caliko/issues/11","repository_url":"https://api.github.com/repos/FedUni/caliko","labels_url":"https://api.github.com/repos/FedUni/caliko/issues/11/labels{/name}","comments_url":"https://api.github.com/repos/FedUni/caliko/issues/11/comments","events_url":"https://api.github.com/repos/FedUni/caliko/issues/11/events","html_url":"https://github.com/FedUni/caliko/issues/11","id":233449337,"node_id":"MDU6SXNzdWUyMzM0NDkzMzc=","number":11,"title":"Strange behavior in solutions","user":{"login":"dai-ichi","id":17210958,"node_id":"MDQ6VXNlcjE3MjEwOTU4","avatar_url":"https://avatars3.githubusercontent.com/u/17210958?v=4","gravatar_id":"","url":"https://api.github.com/users/dai-ichi","html_url":"https://github.com/dai-ichi","followers_url":"https://api.github.com/users/dai-ichi/followers","following_url":"https://api.github.com/users/dai-ichi/following{/other_user}","gists_url":"https://api.github.com/users/dai-ichi/gists{/gist_id}","starred_url":"https://api.github.com/users/dai-ichi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dai-ichi/subscriptions","organizations_url":"https://api.github.com/users/dai-ichi/orgs","repos_url":"https://api.github.com/users/dai-ichi/repos","events_url":"https://api.github.com/users/dai-ichi/events{/privacy}","received_events_url":"https://api.github.com/users/dai-ichi/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":22,"created_at":"2017-06-04T18:04:58Z","updated_at":"2018-10-13T21:02:48Z","closed_at":"2018-10-13T21:02:48Z","author_association":"NONE","body":"I'd been racking my brain as to why certain solutions don't seem to be calculated... even though the demo works perfectly in similar conditions.   So to debug it, I just changed the demo to the 2-bone structure I'm using.  The relevant demo codes looks like:\r\n\r\n\t\tFabrikBone2D basebone;\r\n\t\tbasebone = new FabrikBone2D(new Vec2f(0,0), new Vec2f(0,6*boneLength));\r\n\t\tbasebone.setClockwiseConstraintDegs(90.0f);\r\n\t\tbasebone.setAnticlockwiseConstraintDegs(90.0f);\t\t\r\n\t\tchain.addBone(basebone);\r\n\t\t\r\n\t\t// Fix the base bone to its current location, and constrain it to the positive Y-axis\r\n\t\tchain.setFixedBaseMode(true);\t\t\r\n\t\tchain.setBaseboneConstraintType(BaseboneConstraintType2D.GLOBAL_ABSOLUTE);\r\n\t\tchain.setBaseboneConstraintUV( new Vec2f(0.0f, 1.0f) );\r\n\r\n\t\t// Create and add the second bone - 135 clockwise, 0 anti-clockwise\r\n\t\tchain.addConsecutiveConstrainedBone(new Vec2f(1.0f, 0.0f), 8*boneLength, 135.0f, 0);\r\n\r\n\r\nAnd the demo plots it like this:\r\n\r\n![Starting](http://www.xhome.org/share/arm01.png)\r\n\r\nIt will work correctly for all points right of (0,0).    But if you click to the left of 0,0 you get unreachable even though with the set constraints, a solution should be possible.\r\n\r\n![single point from start](http://www.xhome.org/share/arm02.png)\r\n\r\nYou can actually get to the solution if you DRAG the effector over to the desired point.   But it would be better if the solution was correctly calculated with a single touch.\r\n\r\nI looked at the source code, but the cause of the problem wasn't immediately apparent.  So I'm kicking it over the fence."}}
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