New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-03 20:02:24 +02:00
<?xml version="1.0" encoding="UTF-8" ?>
<class name= "SkeletonModification2DCCDIK" inherits= "SkeletonModification2D" version= "4.0" >
<brief_description >
A modification that uses CCDIK to manipulate a series of bones to reach a target in 2D.
</brief_description>
<description >
Fix various typos with codespell
Found via `codespell -q 3 -S ./thirdparty,*.po,./DONORS.md -L ackward,ang,ans,ba,beng,cas,childs,childrens,dof,doubleclick,fave,findn,hist,inout,leapyear,lod,nd,numer,ois,ony,paket,seeked,sinc,switchs,te,uint`
2021-07-07 17:17:32 +02:00
This [SkeletonModification2D] uses an algorithm called [b]C[/b]yclic [b]C[/b]oordinate [b]D[/b]escent [b]I[/b]nverse [b]K[/b]inematics, or CCDIK, to manipulate a chain of bones in a [Skeleton2D] so it reaches a defined target.
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-03 20:02:24 +02:00
CCDIK works by rotating a set of bones, typically called a "bone chain", on a single axis. Each bone is rotated to face the target from the tip (by default), which over a chain of bones allow it to rotate properly to reach the target. Because the bones only rotate on a single axis, CCDIK [i]can[/i] look more robotic than other IK solvers.
[b]Note:[/b] The CCDIK modifier has [code]ccdik_joints[/code], which are the data objects that hold the data for each joint in the CCDIK chain. This is different from a bone! CCDIK joints hold the data needed for each bone in the bone chain used by CCDIK.
CCDIK also fully supports angle constraints, allowing for more control over how a solution is met.
</description>
<tutorials >
</tutorials>
<methods >
<method name= "get_ccdik_joint_bone2d_node" qualifiers= "const" >
<return type= "NodePath" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns the [Bone2D] node assigned to the CCDIK joint at [code]joint_idx[/code].
</description>
</method>
<method name= "get_ccdik_joint_bone_index" qualifiers= "const" >
<return type= "int" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns the index of the [Bone2D] node assigned to the CCDIK joint at [code]joint_idx[/code].
</description>
</method>
<method name= "get_ccdik_joint_constraint_angle_invert" qualifiers= "const" >
<return type= "bool" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns whether the CCDIK joint at [code]joint_idx[/code] uses an inverted joint constraint. See [method set_ccdik_joint_constraint_angle_invert] for details.
</description>
</method>
<method name= "get_ccdik_joint_constraint_angle_max" qualifiers= "const" >
<return type= "float" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns the maximum angle constraint for the joint at [code]joint_idx[/code].
</description>
</method>
<method name= "get_ccdik_joint_constraint_angle_min" qualifiers= "const" >
<return type= "float" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns the minimum angle constraint for the joint at [code]joint_idx[/code].
</description>
</method>
<method name= "get_ccdik_joint_enable_constraint" qualifiers= "const" >
<return type= "bool" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns whether angle constraints on the CCDIK joint at [code]joint_idx[/code] are enabled.
</description>
</method>
<method name= "get_ccdik_joint_rotate_from_joint" qualifiers= "const" >
<return type= "bool" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<description >
Returns whether the joint at [code]joint_idx[/code] is set to rotate from the joint, [code]true[/code], or to rotate from the tip, [code]false[/code]. The default is to rotate from the tip.
</description>
</method>
<method name= "set_ccdik_joint_bone2d_node" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "bone2d_nodepath" type= "NodePath" >
</argument>
<description >
Sets the [Bone2D] node assigned to the CCDIK joint at [code]joint_idx[/code].
</description>
</method>
<method name= "set_ccdik_joint_bone_index" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "bone_idx" type= "int" >
</argument>
<description >
Sets the bone index, [code]bone_index[/code], of the CCDIK joint at [code]joint_idx[/code]. When possible, this will also update the [code]bone2d_node[/code] of the CCDIK joint based on data provided by the linked skeleton.
</description>
</method>
<method name= "set_ccdik_joint_constraint_angle_invert" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "invert" type= "bool" >
</argument>
<description >
Sets whether the CCDIK joint at [code]joint_idx[/code] uses an inverted joint constraint.
An inverted joint constraint only constraints the CCDIK joint to the angles [i]outside of[/i] the inputted minimum and maximum angles. For this reason, it is referred to as an inverted joint constraint, as it constraints the joint to the outside of the inputted values.
</description>
</method>
<method name= "set_ccdik_joint_constraint_angle_max" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "angle_max" type= "float" >
</argument>
<description >
Sets the maximum angle constraint for the joint at [code]joint_idx[/code].
</description>
</method>
<method name= "set_ccdik_joint_constraint_angle_min" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "angle_min" type= "float" >
</argument>
<description >
Sets the minimum angle constraint for the joint at [code]joint_idx[/code].
</description>
</method>
<method name= "set_ccdik_joint_enable_constraint" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "enable_constraint" type= "bool" >
</argument>
<description >
Determines whether angle constraints on the CCDIK joint at [code]joint_idx[/code] are enabled. When [code]true[/code], constraints will be enabled and taken into account when solving.
</description>
</method>
<method name= "set_ccdik_joint_rotate_from_joint" >
<return type= "void" >
</return>
<argument index= "0" name= "joint_idx" type= "int" >
</argument>
<argument index= "1" name= "rotate_from_joint" type= "bool" >
</argument>
<description >
Sets whether the joint at [code]joint_idx[/code] is set to rotate from the joint, [code]true[/code], or to rotate from the tip, [code]false[/code].
</description>
</method>
</methods>
<members >
<member name= "ccdik_data_chain_length" type= "int" setter= "set_ccdik_data_chain_length" getter= "get_ccdik_data_chain_length" default= "0" >
The amount of CCDIK joints in the CCDIK modification.
</member>
<member name= "target_nodepath" type= "NodePath" setter= "set_target_node" getter= "get_target_node" default= "NodePath("")" >
The NodePath to the node that is the target for the CCDIK modification. This node is what the CCDIK chain will attempt to rotate the bone chain to.
</member>
<member name= "tip_nodepath" type= "NodePath" setter= "set_tip_node" getter= "get_tip_node" default= "NodePath("")" >
The end position of the CCDIK chain. Typically, this should be a child of a [Bone2D] node attached to the final [Bone2D] in the CCDIK chain.
</member>
</members>
<constants >
</constants>
</class>
