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Merge pull request #40774 from TwistedTwigleg/SkeletonIK_Godot_4_0_Fixes

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SkeletonIK changes and bug fixes
This commit is contained in:
Rémi Verschelde 2021-03-12 11:25:29 +01:00 committed by GitHub
commit a19ffe80da
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 7 additions and 24 deletions
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28
scene/3d/skeleton_ik_3d.cpp
View file

@ -63,7 +63,6 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
chain.chain_root.bone = p_task->root_bone;
chain.chain_root.initial_transform = p_task->skeleton->get_bone_global_pose(chain.chain_root.bone);
chain.chain_root.current_pos = chain.chain_root.initial_transform.origin;
chain.chain_root.pb = p_task->skeleton->get_physical_bone(chain.chain_root.bone);
chain.middle_chain_item = nullptr;
// Holds all IDs that are composing a single chain in reverse order
@ -96,8 +95,6 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
if (!child_ci) {
child_ci = sub_chain->add_child(chain_ids[i]);
child_ci->pb = p_task->skeleton->get_physical_bone(child_ci->bone);
child_ci->initial_transform = p_task->skeleton->get_bone_global_pose(child_ci->bone);
child_ci->current_pos = child_ci->initial_transform.origin;
@ -132,20 +129,6 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
return true;
}
void FabrikInverseKinematic::update_chain(const Skeleton3D *p_sk, ChainItem *p_chain_item) {
if (!p_chain_item) {
return;
}
p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone);
p_chain_item->current_pos = p_chain_item->initial_transform.origin;
ChainItem *items = p_chain_item->children.ptrw();
for (int i = 0; i < p_chain_item->children.size(); i += 1) {
update_chain(p_sk, items + i);
}
}
void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet) {
real_t distance_to_goal(1e4);
real_t previous_distance_to_goal(0);
@ -263,7 +246,7 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_
p_task->end_effectors.write[0].goal_transform = p_inverse_transf * p_task->goal_global_transform;
} else {
// End effector in local transform
const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors.write[0].tip_bone));
const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors[0].tip_bone));
// Update the end_effector (local transform) by blending with current pose
p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
@ -285,9 +268,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true);
}
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse().scaled(p_task->skeleton->get_global_transform().get_basis().get_scale()), blending_delta);
update_chain(p_task->skeleton, &p_task->chain.chain_root);
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta);
if (p_use_magnet && p_task->chain.middle_chain_item) {
p_task->chain.magnet_position = p_task->chain.middle_chain_item->initial_transform.origin.lerp(p_magnet_position, blending_delta);
@ -310,6 +291,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
new_bone_pose.basis.rotate(rot_axis, rot_angle);
}
} else {
// Set target orientation to tip
if (override_tip_basis) {
@ -319,6 +301,10 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
}
}
// IK should not affect scale, so undo any scaling
new_bone_pose.basis.orthonormalize();
new_bone_pose.basis.scale(p_task->skeleton->get_bone_global_pose(ci->bone).basis.get_scale());
p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0, true);
if (!ci->children.is_empty()) {

3
scene/3d/skeleton_ik_3d.h
View file

@ -52,7 +52,6 @@ class FabrikInverseKinematic {
// Bone info
BoneId bone = -1;
PhysicalBone3D *pb = nullptr;
real_t length = 0.0;
/// Positions relative to root bone
@ -107,8 +106,6 @@ private:
/// Init a chain that starts from the root to tip
static bool build_chain(Task *p_task, bool p_force_simple_chain = true);
static void update_chain(const Skeleton3D *p_sk, ChainItem *p_chain_item);
static void solve_simple(Task *p_task, bool p_solve_magnet);
/// Special solvers that solve only chains with one end effector
static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet);