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SkeletonIK: Fixed issue where bones become detached if multiple SkeletonIK nodes are used

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(Forward port of 3.X code for Godot 4)
This commit is contained in:
TwistedTwigleg 2021-05-25 21:30:40 -04:00
parent 7ea3a45da1
commit dbd17ebf30
2 changed files with 11 additions and 8 deletions
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15
scene/3d/skeleton_ik_3d.cpp
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@ -129,7 +129,7 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
return true;
}
void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet) {
void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet, Vector3 p_origin_pos) {
real_t distance_to_goal(1e4);
real_t previous_distance_to_goal(0);
int can_solve(p_task->max_iterations);
@ -138,7 +138,7 @@ void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet) {
--can_solve;
solve_simple_backwards(p_task->chain, p_solve_magnet);
solve_simple_forwards(p_task->chain, p_solve_magnet);
solve_simple_forwards(p_task->chain, p_solve_magnet, p_origin_pos);
distance_to_goal = (p_task->chain.tips[0].chain_item->current_pos - p_task->chain.tips[0].end_effector->goal_transform.origin).length();
}
@ -176,13 +176,13 @@ void FabrikInverseKinematic::solve_simple_backwards(Chain &r_chain, bool p_solve
}
}
void FabrikInverseKinematic::solve_simple_forwards(Chain &r_chain, bool p_solve_magnet) {
void FabrikInverseKinematic::solve_simple_forwards(Chain &r_chain, bool p_solve_magnet, Vector3 p_origin_pos) {
if (p_solve_magnet && !r_chain.middle_chain_item) {
return;
}
ChainItem *sub_chain_root(&r_chain.chain_root);
Vector3 origin(r_chain.chain_root.initial_transform.origin);
Vector3 origin = p_origin_pos;
while (sub_chain_root) { // Reach the tip
sub_chain_root->current_pos = origin;
@ -273,13 +273,16 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
// Update the initial root transform so its synced with any animation changes
_update_chain(p_task->skeleton, &p_task->chain.chain_root);
p_task->skeleton->set_bone_global_pose_override(p_task->chain.chain_root.bone, Transform(), 0.0, false);
Vector3 origin_pos = p_task->skeleton->get_bone_global_pose(p_task->chain.chain_root.bone).origin;
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);
solve_simple(p_task, true);
solve_simple(p_task, true, origin_pos);
}
solve_simple(p_task, false);
solve_simple(p_task, false, origin_pos);
// Assign new bone position.
ChainItem *ci(&p_task->chain.chain_root);

4
scene/3d/skeleton_ik_3d.h
View file

@ -106,10 +106,10 @@ 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 solve_simple(Task *p_task, bool p_solve_magnet);
static void solve_simple(Task *p_task, bool p_solve_magnet, Vector3 p_origin_pos);
/// Special solvers that solve only chains with one end effector
static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet);
static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet);
static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet, Vector3 p_origin_pos);
public:
static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform);