R15 rotate shoulders up & down from RootPart space (keeping animation)

I’ve been struggling to make a system that points the arms toward a direction while keeping animation. If I set the C1 or C0 the animation offset is removed, so I started to multiply the C1 then inversing it.
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I managed to get somewhere that at least kept the gun facing forward, but I had to do all this weird offset stuff. So is it possible to rotate a Motor6D based off a Part’s object space?
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Green is rotation by the space of the right object, I want that to happen to the left one.
Red is what actually happens

C0 * Transform * C1:Inverse() is the Motor6Ds CFrame. You can remove the offset by setting either C0 or C1 to a transform value that equals Vector3.zero, or by making one CFrame value have all the transform and the 2nd have no transform.

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