Godot_IK

extends Node2D
onready var Joint0 = $Joint0
onready var Joint1 = $Joint0/Joint1
onready var Hand = $Joint0/Joint1/Hand
onready var Target = $Target
var length0
var length1
var jointAngle0
var jointAngle1
export var BendFlip = false
export var MouseFollow = true
func _ready():
    length0 = Joint0.global_position.distance_to(Joint1.global_position)
    length1 = Joint1.global_position.distance_to(Hand.global_position)
func _process(delta):
    if(MouseFollow):
        Target.global_position = get_global_mouse_position()
    # Distance from Joint0 to target
    var length2 = Joint0.global_position.distance_to(Target.global_position)
    # Angle from Joint0 to target
    var diff = Target.global_position - Joint0.global_position
    var Atan = rad2deg(atan2(diff.y, diff.x))
    if(length0 + length1 < length2):
        jointAngle0 = Atan
        jointAngle1 = 0
    elif(length2 > .001):
        var cosAngle0 = ((length2 * length2) + (length0 * length0) - (length1 * length1)) / (2 * length2 * length0)
        var angle0 = rad2deg(acos(cosAngle0))
        var cosAngle1 = ((length1 * length1) + (length0 * length0) - (length2 * length2)) / (2 * length1 * length0)
        var angle1 = rad2deg(acos(cosAngle1))
        if(BendFlip):
            jointAngle0 = Atan + angle0
            jointAngle1 = 180 + angle1
        else:
            jointAngle0 = Atan - angle0
            jointAngle1 = 180 - angle1
    Joint0.rotation_degrees = jointAngle0
    Joint1.rotation_degrees = jointAngle1