virtualx-engine/modules/ik/ik.cpp

/*************************************************************************/
/*  ik.cpp                                                               */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
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/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur.                 */
/* This file is Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com>     */
/*                                                                       */
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/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
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/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
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/* The above copyright notice and this permission notice shall be        */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/*************************************************************************/

#include "ik.h"

bool InverseKinematics::_get(const StringName& p_name,Variant &r_ret) const
{

	if (String(p_name)=="ik_bone") {

		r_ret=get_bone_name();
		return true;
	}

	return false;
}

bool InverseKinematics::_set(const StringName& p_name, const Variant& p_value)
{

	if (String(p_name)=="ik_bone") {

		set_bone_name(p_value);
		return true;
	}

	return false;
}

void InverseKinematics::_get_property_list( List<PropertyInfo>* p_list ) const
{

	Skeleton *parent=NULL;
	if(get_parent())
		parent=get_parent()->cast_to<Skeleton>();

	if (parent) {

		String names;
		for(int i=0;i<parent->get_bone_count();i++) {
			if(i>0)
				names+=",";
			names+=parent->get_bone_name(i);
		}

		p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone",PROPERTY_HINT_ENUM,names));
	} else {

		p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone"));

	}

}

void InverseKinematics::_check_bind()
{

	if (get_parent() && get_parent()->cast_to<Skeleton>()) {
		Skeleton *sk = get_parent()->cast_to<Skeleton>();
		int idx = sk->find_bone(ik_bone);
		if (idx!=-1) {
			ik_bone_no = idx;
			skel = sk;
			bound=true;
		}
	}
}

void InverseKinematics::_check_unbind()
{

	if (bound) {

		if (get_parent() && get_parent()->cast_to<Skeleton>()) {
			Skeleton *sk = get_parent()->cast_to<Skeleton>();
			int idx = sk->find_bone(ik_bone);
			if (idx!=-1) {
				ik_bone_no = idx;
				skel = sk;
			}
		}
		bound=false;
	}
}


void InverseKinematics::set_bone_name(const String& p_name)
{

	if (is_inside_tree())
		_check_unbind();

	ik_bone=p_name;

	if (is_inside_tree())
		_check_bind();
}

String InverseKinematics::get_bone_name() const
{

	return ik_bone;
}

void InverseKinematics::set_iterations(int itn)
{

	if (is_inside_tree())
		_check_unbind();

	iterations=itn;

	if (is_inside_tree())
		_check_bind();
}

int InverseKinematics::get_iterations() const
{

	return iterations;
}

void InverseKinematics::set_chain_size(int cs)
{

	if (is_inside_tree())
		_check_unbind();

	chain_size=cs;
	chain.clear();
	int cur_bone = ik_bone_no;
	int its = chain_size;
	set_process(false);
	print_line("wtf clean: " + itos(chain.size()) + "/" + itos(chain_size) + " wtf ik bone: " + itos(ik_bone_no));
	while (its > 0 && cur_bone >= 0) {
		print_line("wtf pushing: " + itos(chain.size()));
		chain.push_back(cur_bone);
		cur_bone = skel->get_bone_parent(cur_bone);
		its--;
	}
	set_process(true);
	print_line("wtf size: " + itos(chain.size()));

	if (is_inside_tree())
		_check_bind();
}

int InverseKinematics::get_chain_size() const
{

	return chain_size;
}

void InverseKinematics::set_precision(float p)
{

	if (is_inside_tree())
		_check_unbind();

	precision=p;

	if (is_inside_tree())
		_check_bind();
}

float InverseKinematics::get_precision() const
{

	return precision;
}


void InverseKinematics::_notification(int p_what)
{

	switch(p_what) {

		case NOTIFICATION_ENTER_TREE: {

			_check_bind();
			tail_bone = -1;
			if (bound) {
				for (int i = 0; i < skel->get_bone_count(); i++)
					if (skel->get_bone_parent(i) == ik_bone_no)
						tail_bone = i;
				int cur_bone = ik_bone_no;
				int its = chain_size;
				while (its > 0 && cur_bone >= 0) {
					chain.push_back(cur_bone);
					cur_bone = skel->get_bone_parent(cur_bone);
					its--;
				}
				set_process(true);
			}
		} break;
		case NOTIFICATION_PROCESS: {
			float delta = get_process_delta_time();
			Spatial *sksp = skel->cast_to<Spatial>();
			if (!bound)
				break;
			if (!sksp)
				break;
			Vector3 to = get_translation();
			for (int hump = 0; hump < iterations; hump++) {
				int depth = 0;
				float olderr = 1000.0;
				float psign = 1.0;
				bool reached = false;

				for (List<int>::Element *b = chain.front(); b; b = b->next()) {
					int cur_bone = b->get();
					Vector3 d = skel->get_bone_global_pose(tail_bone).origin;
					Vector3 rg = to;
					float err = d.distance_squared_to(rg);
					if (err < precision) {
						if (!reached && err < precision)
							reached = true;
						break;
					} else
						if (reached)
							reached = false;
					if (err > olderr)
						psign = -psign;
					Transform mod = skel->get_bone_global_pose(cur_bone);
					Quat q1 = Quat(mod.basis).normalized();
					Transform mod2 = mod.looking_at(to, Vector3(0.0, 1.0, 0.0));
					Quat q2 = Quat(mod2.basis).normalized();
					if (psign < 0.0)
						q2 = q2.inverse();
					Quat q = q1.slerp(q2, 0.2 / (1.0 + 500.0 * depth)).normalized();
					Transform fin = Transform(q);
					fin.origin = mod.origin;
					skel->set_bone_global_pose(cur_bone, fin);
					depth++;
				}
				if (reached)
					break;

			}

	   	} break;
		case NOTIFICATION_EXIT_TREE: {
			set_process(false);

			_check_unbind();
		} break;
	}
}
void InverseKinematics::_bind_methods() {
	ObjectTypeDB::bind_method(_MD("set_bone_name","ik_bone"),&InverseKinematics::set_bone_name);
	ObjectTypeDB::bind_method(_MD("get_bone_name"),&InverseKinematics::get_bone_name);
	ObjectTypeDB::bind_method(_MD("set_iterations","iterations"),&InverseKinematics::set_iterations);
	ObjectTypeDB::bind_method(_MD("get_iterations"),&InverseKinematics::get_iterations);
	ObjectTypeDB::bind_method(_MD("set_chain_size","chain_size"),&InverseKinematics::set_chain_size);
	ObjectTypeDB::bind_method(_MD("get_chain_size"),&InverseKinematics::get_chain_size);
	ObjectTypeDB::bind_method(_MD("set_precision","precision"),&InverseKinematics::set_precision);
	ObjectTypeDB::bind_method(_MD("get_precision"),&InverseKinematics::get_precision);
	ADD_PROPERTY(PropertyInfo(Variant::INT, "iterations"), _SCS("set_iterations"), _SCS("get_iterations"));
	ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_size"), _SCS("set_chain_size"), _SCS("get_chain_size"));
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "precision"), _SCS("set_precision"), _SCS("get_precision"));
}

InverseKinematics::InverseKinematics()
{
	bound=false;
	chain_size = 2;
	iterations = 100;
	precision = 0.001;

}