/*************************************************************************/ /* skeleton_modification_3d_fabrik.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef SKELETON_MODIFICATION_3D_FABRIK_H #define SKELETON_MODIFICATION_3D_FABRIK_H #include "core/templates/local_vector.h" #include "scene/3d/skeleton_3d.h" #include "scene/resources/skeleton_modification_3d.h" class SkeletonModification3DFABRIK : public SkeletonModification3D { GDCLASS(SkeletonModification3DFABRIK, SkeletonModification3D); private: struct FABRIK_Joint_Data { String bone_name = ""; int bone_idx = -1; real_t length = -1; Vector3 magnet_position = Vector3(0, 0, 0); bool auto_calculate_length = true; bool use_tip_node = false; NodePath tip_node = NodePath(); ObjectID tip_node_cache; bool use_target_basis = false; real_t roll = 0; }; LocalVector<FABRIK_Joint_Data> fabrik_data_chain; LocalVector<Transform3D> fabrik_transforms; NodePath target_node; ObjectID target_node_cache; real_t chain_tolerance = 0.01; int chain_max_iterations = 10; int chain_iterations = 0; void update_target_cache(); void update_joint_tip_cache(int p_joint_idx); int final_joint_idx = 0; Transform3D target_global_pose = Transform3D(); Transform3D origin_global_pose = Transform3D(); void chain_backwards(); void chain_forwards(); void chain_apply(); protected: static void _bind_methods(); bool _get(const StringName &p_path, Variant &r_ret) const; bool _set(const StringName &p_path, const Variant &p_value); void _get_property_list(List<PropertyInfo> *p_list) const; public: virtual void _execute(real_t p_delta) override; virtual void _setup_modification(SkeletonModificationStack3D *p_stack) override; void set_target_node(const NodePath &p_target_node); NodePath get_target_node() const; int get_fabrik_data_chain_length(); void set_fabrik_data_chain_length(int p_new_length); real_t get_chain_tolerance(); void set_chain_tolerance(real_t p_tolerance); int get_chain_max_iterations(); void set_chain_max_iterations(int p_iterations); String get_fabrik_joint_bone_name(int p_joint_idx) const; void set_fabrik_joint_bone_name(int p_joint_idx, String p_bone_name); int get_fabrik_joint_bone_index(int p_joint_idx) const; void set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx); real_t get_fabrik_joint_length(int p_joint_idx) const; void set_fabrik_joint_length(int p_joint_idx, real_t p_bone_length); Vector3 get_fabrik_joint_magnet(int p_joint_idx) const; void set_fabrik_joint_magnet(int p_joint_idx, Vector3 p_magnet); bool get_fabrik_joint_auto_calculate_length(int p_joint_idx) const; void set_fabrik_joint_auto_calculate_length(int p_joint_idx, bool p_auto_calculate); void fabrik_joint_auto_calculate_length(int p_joint_idx); bool get_fabrik_joint_use_tip_node(int p_joint_idx) const; void set_fabrik_joint_use_tip_node(int p_joint_idx, bool p_use_tip_node); NodePath get_fabrik_joint_tip_node(int p_joint_idx) const; void set_fabrik_joint_tip_node(int p_joint_idx, NodePath p_tip_node); bool get_fabrik_joint_use_target_basis(int p_joint_idx) const; void set_fabrik_joint_use_target_basis(int p_joint_idx, bool p_use_basis); real_t get_fabrik_joint_roll(int p_joint_idx) const; void set_fabrik_joint_roll(int p_joint_idx, real_t p_roll); SkeletonModification3DFABRIK(); ~SkeletonModification3DFABRIK(); }; #endif // SKELETON_MODIFICATION_3D_FABRIK_H