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I learned so much from looking at your code! Very useful. Thank you!

Awesome!! that is what I was looking for, however, I want to report one simple fix, when we scale the parent, the length of the child nodes becomes inaccurate in OneJointIK.gd. So, in order to fix this issue, simply multiply the length of both the lower and terminus (upper length and lower length) by their absolute global_scale.x in the reach_toward method.

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That was the first thing I tried. I tried a lot to get global scale to apply correctly. Because you're right, that should work. But I couldn't get it to work.

Great job! This was super useful for my future project! Thank you!

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Would you mind putting a license on this like with your tileset generator?