I have a hand with rootbone and index1 bone. They both have initial Transforms and are not zeroed out. When I then add a constraint to the index1 finger I already get like -8.9 degree from getSwingZAngle(). Then comparing it to the swing1limit I am always 8.9 over or under the limits.
Now I wanted to find a way to compare the getSwingZAngle() to the Swing1Limit withouth those -8.9 and withouth storing the intial value at each initialization.
I tried a lot of transform inversion from root to index bodies, like for example comparing the angle between the forward vector of the reference frame PriAxis2 to FVector(1,0,0) in ue, but I never get this -8.9 degree I would like to cancel out.
Joint->getRelativeTransform() gives me the -8.9 degree I am looking for on the swing1, but it also changes in realtime, so I can not use it for ajustment. I also tried to invTransform it to various poses provided by physx.
Thank you very much for an answer.