To revert back to pose-mode, use "Reset Transform" menu item and toggle "Setup mode" again. Mind, all movement and rotations should be done with "Setup mode" inside "Skeleton" menu toggled off. Otherwise, rotate will use purple X-cross as pivot for rotation and position of bone might change. It is essential to toggle off Pivot button in the bottom of ZModeler window, so rotating bone will retain its position. "Rotate Geometry" and "Affect children" option should be enabled in "Rotate" tool's drop-down menu. If you wish to rotate the bone manually, it's preferable to turn "Inverse Kinematics" off. For example, move forearm bone to rotate shoulder bone. Then use Modify\Move tool on a bone one further than the bone of your interest. To move/rotate bone, it is advised to turn on "Inverse Kinematics" mode in "Skeleton" right-click menu. From this moment on, bone movement will affect geometry. You should right-click on skeleton base object (usually ".skel") and turn off "Skeleton -> Setup Mode".
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