d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
617 lines
29 KiB
C++
617 lines
29 KiB
C++
/**************************************************************************/
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/* skeleton_modification_3d_twoboneik.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "scene/resources/skeleton_modification_3d_twoboneik.h"
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#include "scene/3d/skeleton_3d.h"
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#include "scene/resources/skeleton_modification_3d.h"
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bool SkeletonModification3DTwoBoneIK::_set(const StringName &p_path, const Variant &p_value) {
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String path = p_path;
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if (path == "use_tip_node") {
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set_use_tip_node(p_value);
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} else if (path == "tip_node") {
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set_tip_node(p_value);
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} else if (path == "auto_calculate_joint_length") {
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set_auto_calculate_joint_length(p_value);
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} else if (path == "use_pole_node") {
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set_use_pole_node(p_value);
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} else if (path == "pole_node") {
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set_pole_node(p_value);
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} else if (path == "joint_one_length") {
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set_joint_one_length(p_value);
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} else if (path == "joint_two_length") {
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set_joint_two_length(p_value);
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} else if (path == "joint_one/bone_name") {
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set_joint_one_bone_name(p_value);
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} else if (path == "joint_one/bone_idx") {
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set_joint_one_bone_idx(p_value);
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} else if (path == "joint_one/roll") {
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set_joint_one_roll(Math::deg_to_rad(real_t(p_value)));
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} else if (path == "joint_two/bone_name") {
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set_joint_two_bone_name(p_value);
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} else if (path == "joint_two/bone_idx") {
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set_joint_two_bone_idx(p_value);
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} else if (path == "joint_two/roll") {
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set_joint_two_roll(Math::deg_to_rad(real_t(p_value)));
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}
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return true;
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}
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bool SkeletonModification3DTwoBoneIK::_get(const StringName &p_path, Variant &r_ret) const {
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String path = p_path;
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if (path == "use_tip_node") {
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r_ret = get_use_tip_node();
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} else if (path == "tip_node") {
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r_ret = get_tip_node();
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} else if (path == "auto_calculate_joint_length") {
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r_ret = get_auto_calculate_joint_length();
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} else if (path == "use_pole_node") {
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r_ret = get_use_pole_node();
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} else if (path == "pole_node") {
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r_ret = get_pole_node();
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} else if (path == "joint_one_length") {
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r_ret = get_joint_one_length();
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} else if (path == "joint_two_length") {
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r_ret = get_joint_two_length();
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} else if (path == "joint_one/bone_name") {
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r_ret = get_joint_one_bone_name();
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} else if (path == "joint_one/bone_idx") {
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r_ret = get_joint_one_bone_idx();
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} else if (path == "joint_one/roll") {
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r_ret = Math::rad_to_deg(get_joint_one_roll());
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} else if (path == "joint_two/bone_name") {
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r_ret = get_joint_two_bone_name();
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} else if (path == "joint_two/bone_idx") {
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r_ret = get_joint_two_bone_idx();
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} else if (path == "joint_two/roll") {
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r_ret = Math::rad_to_deg(get_joint_two_roll());
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}
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return true;
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}
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void SkeletonModification3DTwoBoneIK::_get_property_list(List<PropertyInfo> *p_list) const {
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p_list->push_back(PropertyInfo(Variant::BOOL, "use_tip_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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if (use_tip_node) {
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p_list->push_back(PropertyInfo(Variant::NODE_PATH, "tip_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT));
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}
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p_list->push_back(PropertyInfo(Variant::BOOL, "auto_calculate_joint_length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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if (!auto_calculate_joint_length) {
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p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_one_length", PROPERTY_HINT_RANGE, "-1, 10000, 0.001", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_two_length", PROPERTY_HINT_RANGE, "-1, 10000, 0.001", PROPERTY_USAGE_DEFAULT));
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}
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p_list->push_back(PropertyInfo(Variant::BOOL, "use_pole_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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if (use_pole_node) {
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p_list->push_back(PropertyInfo(Variant::NODE_PATH, "pole_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT));
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}
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p_list->push_back(PropertyInfo(Variant::STRING_NAME, "joint_one/bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::INT, "joint_one/bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_one/roll", PROPERTY_HINT_RANGE, "-360, 360, 0.01", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::STRING_NAME, "joint_two/bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::INT, "joint_two/bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_two/roll", PROPERTY_HINT_RANGE, "-360, 360, 0.01", PROPERTY_USAGE_DEFAULT));
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}
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void SkeletonModification3DTwoBoneIK::_execute(real_t p_delta) {
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ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr,
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"Modification is not setup and therefore cannot execute!");
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if (!enabled) {
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return;
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}
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if (_print_execution_error(joint_one_bone_idx < 0 || joint_two_bone_idx < 0,
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"One (or more) of the bones in the modification have invalid bone indexes. Cannot execute modification!")) {
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return;
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}
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if (target_node_cache.is_null()) {
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_print_execution_error(true, "Target cache is out of date. Attempting to update...");
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update_cache_target();
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return;
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}
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// Update joint lengths (if needed)
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if (auto_calculate_joint_length && (joint_one_length < 0 || joint_two_length < 0)) {
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calculate_joint_lengths();
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}
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// Adopted from the links below:
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// http://theorangeduck.com/page/simple-two-joint
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// https://www.alanzucconi.com/2018/05/02/ik-2d-2/
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// With modifications by TwistedTwigleg
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Node3D *target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache));
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if (_print_execution_error(!target || !target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) {
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return;
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}
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Transform3D target_trans = stack->skeleton->world_transform_to_global_pose(target->get_global_transform());
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Transform3D bone_one_trans;
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Transform3D bone_two_trans;
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// Make the first joint look at the pole, and the second look at the target. That way, the
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// TwoBoneIK solver has to really only handle extension/contraction, which should make it align with the pole.
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if (use_pole_node) {
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if (pole_node_cache.is_null()) {
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_print_execution_error(true, "Pole cache is out of date. Attempting to update...");
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update_cache_pole();
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return;
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}
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Node3D *pole = Object::cast_to<Node3D>(ObjectDB::get_instance(pole_node_cache));
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if (_print_execution_error(!pole || !pole->is_inside_tree(), "Pole node is not in the scene tree. Cannot execute modification!")) {
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return;
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}
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Transform3D pole_trans = stack->skeleton->world_transform_to_global_pose(pole->get_global_transform());
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Transform3D bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx);
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if (bone_one_local_pos == Transform3D()) {
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bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx);
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}
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Transform3D bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx);
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if (bone_two_local_pos == Transform3D()) {
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bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx);
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}
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bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos);
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bone_one_trans = bone_one_trans.looking_at(pole_trans.origin, Vector3(0, 1, 0));
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bone_one_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_one_bone_idx, bone_one_trans.basis);
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stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx);
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bone_one_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_one_bone_idx), joint_one_roll);
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stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans), stack->strength, true);
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stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx);
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bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos);
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bone_two_trans = bone_two_trans.looking_at(target_trans.origin, Vector3(0, 1, 0));
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bone_two_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_two_bone_idx, bone_two_trans.basis);
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stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
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bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll);
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stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans), stack->strength, true);
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stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
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} else {
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Transform3D bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx);
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if (bone_one_local_pos == Transform3D()) {
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bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx);
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}
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Transform3D bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx);
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if (bone_two_local_pos == Transform3D()) {
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bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx);
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}
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bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos);
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bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos);
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}
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Transform3D bone_two_tip_trans;
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if (use_tip_node) {
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if (tip_node_cache.is_null()) {
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_print_execution_error(true, "Tip cache is out of date. Attempting to update...");
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update_cache_tip();
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return;
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}
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Node3D *tip = Object::cast_to<Node3D>(ObjectDB::get_instance(tip_node_cache));
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if (_print_execution_error(!tip || !tip->is_inside_tree(), "Tip node is not in the scene tree. Cannot execute modification!")) {
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return;
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}
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bone_two_tip_trans = stack->skeleton->world_transform_to_global_pose(tip->get_global_transform());
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} else {
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stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
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bone_two_tip_trans = bone_two_trans;
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bone_two_tip_trans.origin += bone_two_trans.basis.xform(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx)).normalized() * joint_two_length;
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}
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real_t joint_one_to_target_length = bone_one_trans.origin.distance_to(target_trans.origin);
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if (joint_one_length + joint_two_length < joint_one_to_target_length) {
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// Set the target *just* out of reach to straighten the bones
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joint_one_to_target_length = joint_one_length + joint_two_length + 0.01;
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} else if (joint_one_to_target_length < joint_one_length) {
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// Place the target in reach so the solver doesn't do crazy things
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joint_one_to_target_length = joint_one_length;
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}
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// Get the square lengths for all three sides of the triangle we'll use to calculate the angles
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real_t sqr_one_length = joint_one_length * joint_one_length;
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real_t sqr_two_length = joint_two_length * joint_two_length;
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real_t sqr_three_length = joint_one_to_target_length * joint_one_to_target_length;
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// Calculate the angles for the first joint using the law of cosigns
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real_t ac_ab_0 = Math::acos(CLAMP(bone_two_tip_trans.origin.direction_to(bone_one_trans.origin).dot(bone_two_trans.origin.direction_to(bone_one_trans.origin)), -1, 1));
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real_t ac_at_0 = Math::acos(CLAMP(bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).dot(bone_one_trans.origin.direction_to(target_trans.origin)), -1, 1));
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real_t ac_ab_1 = Math::acos(CLAMP((sqr_two_length - sqr_one_length - sqr_three_length) / (-2.0 * joint_one_length * joint_one_to_target_length), -1, 1));
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// Calculate the angles of rotation. Angle 0 is the extension/contraction axis, while angle 1 is the rotation axis to align the triangle to the target
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Vector3 axis_0 = bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).cross(bone_one_trans.origin.direction_to(bone_two_trans.origin));
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Vector3 axis_1 = bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).cross(bone_one_trans.origin.direction_to(target_trans.origin));
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// Make a quaternion with the delta rotation needed to rotate the first joint into alignment and apply it to the transform.
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Quaternion bone_one_quat = bone_one_trans.basis.get_rotation_quaternion();
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Quaternion rot_0 = Quaternion(bone_one_quat.inverse().xform(axis_0).normalized(), (ac_ab_1 - ac_ab_0));
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Quaternion rot_2 = Quaternion(bone_one_quat.inverse().xform(axis_1).normalized(), ac_at_0);
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bone_one_trans.basis.set_quaternion(bone_one_quat * (rot_0 * rot_2));
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stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx);
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bone_one_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_one_bone_idx), joint_one_roll);
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// Apply the rotation to the first joint
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bone_one_trans = stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans);
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bone_one_trans.origin = Vector3(0, 0, 0);
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stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, bone_one_trans, stack->strength, true);
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stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx);
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if (use_pole_node) {
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// Update bone_two_trans so its at the latest position, with the rotation of bone_one_trans taken into account, then look at the target.
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bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx));
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stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
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Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx);
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bone_two_trans.basis.rotate_to_align(forward_vector, bone_two_trans.origin.direction_to(target_trans.origin));
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stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
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bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll);
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bone_two_trans = stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans);
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stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, bone_two_trans, stack->strength, true);
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stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
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} else {
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// Calculate the angles for the second joint using the law of cosigns, make a quaternion with the delta rotation needed to rotate the joint into
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// alignment, and then apply it to the second joint.
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real_t ba_bc_0 = Math::acos(CLAMP(bone_two_trans.origin.direction_to(bone_one_trans.origin).dot(bone_two_trans.origin.direction_to(bone_two_tip_trans.origin)), -1, 1));
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real_t ba_bc_1 = Math::acos(CLAMP((sqr_three_length - sqr_one_length - sqr_two_length) / (-2.0 * joint_one_length * joint_two_length), -1, 1));
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Quaternion bone_two_quat = bone_two_trans.basis.get_rotation_quaternion();
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Quaternion rot_1 = Quaternion(bone_two_quat.inverse().xform(axis_0).normalized(), (ba_bc_1 - ba_bc_0));
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bone_two_trans.basis.set_quaternion(bone_two_quat * rot_1);
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stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
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bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll);
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bone_two_trans = stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans);
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bone_two_trans.origin = Vector3(0, 0, 0);
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stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, bone_two_trans, stack->strength, true);
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stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
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}
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}
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void SkeletonModification3DTwoBoneIK::_setup_modification(SkeletonModificationStack3D *p_stack) {
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stack = p_stack;
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if (stack != nullptr) {
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is_setup = true;
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execution_error_found = false;
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update_cache_target();
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update_cache_tip();
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}
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}
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void SkeletonModification3DTwoBoneIK::update_cache_target() {
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if (!is_setup || !stack) {
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_print_execution_error(true, "Cannot update target cache: modification is not properly setup!");
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return;
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}
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target_node_cache = ObjectID();
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if (stack->skeleton) {
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if (stack->skeleton->is_inside_tree() && target_node.is_empty() == false) {
|
|
if (stack->skeleton->has_node(target_node)) {
|
|
Node *node = stack->skeleton->get_node(target_node);
|
|
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
|
|
"Cannot update target cache: Target node is this modification's skeleton or cannot be found. Cannot execute modification");
|
|
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
|
|
"Cannot update target cache: Target node is not in the scene tree. Cannot execute modification!");
|
|
target_node_cache = node->get_instance_id();
|
|
|
|
execution_error_found = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::update_cache_tip() {
|
|
if (!is_setup || !stack) {
|
|
_print_execution_error(true, "Cannot update tip cache: modification is not properly setup!");
|
|
return;
|
|
}
|
|
|
|
tip_node_cache = ObjectID();
|
|
if (stack->skeleton) {
|
|
if (stack->skeleton->is_inside_tree()) {
|
|
if (stack->skeleton->has_node(tip_node)) {
|
|
Node *node = stack->skeleton->get_node(tip_node);
|
|
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
|
|
"Cannot update tip cache: Tip node is this modification's skeleton or cannot be found!");
|
|
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
|
|
"Cannot update tip cache: Tip node is not in the scene tree. Cannot execute modification!");
|
|
tip_node_cache = node->get_instance_id();
|
|
|
|
execution_error_found = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::update_cache_pole() {
|
|
if (!is_setup || !stack) {
|
|
_print_execution_error(true, "Cannot update pole cache: modification is not properly setup!");
|
|
return;
|
|
}
|
|
|
|
pole_node_cache = ObjectID();
|
|
if (stack->skeleton) {
|
|
if (stack->skeleton->is_inside_tree()) {
|
|
if (stack->skeleton->has_node(pole_node)) {
|
|
Node *node = stack->skeleton->get_node(pole_node);
|
|
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
|
|
"Cannot update pole cache: Pole node is this modification's skeleton or cannot be found!");
|
|
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
|
|
"Cannot update pole cache: Pole node is not in the scene tree. Cannot execute modification!");
|
|
pole_node_cache = node->get_instance_id();
|
|
|
|
execution_error_found = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_target_node(const NodePath &p_target_node) {
|
|
target_node = p_target_node;
|
|
update_cache_target();
|
|
}
|
|
|
|
NodePath SkeletonModification3DTwoBoneIK::get_target_node() const {
|
|
return target_node;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_use_tip_node(const bool p_use_tip_node) {
|
|
use_tip_node = p_use_tip_node;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
bool SkeletonModification3DTwoBoneIK::get_use_tip_node() const {
|
|
return use_tip_node;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_tip_node(const NodePath &p_tip_node) {
|
|
tip_node = p_tip_node;
|
|
update_cache_tip();
|
|
}
|
|
|
|
NodePath SkeletonModification3DTwoBoneIK::get_tip_node() const {
|
|
return tip_node;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_use_pole_node(const bool p_use_pole_node) {
|
|
use_pole_node = p_use_pole_node;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
bool SkeletonModification3DTwoBoneIK::get_use_pole_node() const {
|
|
return use_pole_node;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_pole_node(const NodePath &p_pole_node) {
|
|
pole_node = p_pole_node;
|
|
update_cache_pole();
|
|
}
|
|
|
|
NodePath SkeletonModification3DTwoBoneIK::get_pole_node() const {
|
|
return pole_node;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_auto_calculate_joint_length(bool p_calculate) {
|
|
auto_calculate_joint_length = p_calculate;
|
|
if (p_calculate) {
|
|
calculate_joint_lengths();
|
|
}
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
bool SkeletonModification3DTwoBoneIK::get_auto_calculate_joint_length() const {
|
|
return auto_calculate_joint_length;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::calculate_joint_lengths() {
|
|
if (!is_setup) {
|
|
return; // fail silently, as we likely just loaded the scene.
|
|
}
|
|
ERR_FAIL_COND_MSG(!stack || stack->skeleton == nullptr,
|
|
"Modification is not setup and therefore cannot calculate joint lengths!");
|
|
ERR_FAIL_COND_MSG(joint_one_bone_idx <= -1 || joint_two_bone_idx <= -1,
|
|
"One of the bones in the TwoBoneIK modification are not set! Cannot calculate joint lengths!");
|
|
|
|
Transform3D bone_one_rest_trans = stack->skeleton->get_bone_global_pose(joint_one_bone_idx);
|
|
Transform3D bone_two_rest_trans = stack->skeleton->get_bone_global_pose(joint_two_bone_idx);
|
|
|
|
joint_one_length = bone_one_rest_trans.origin.distance_to(bone_two_rest_trans.origin);
|
|
|
|
if (use_tip_node) {
|
|
if (tip_node_cache.is_null()) {
|
|
update_cache_tip();
|
|
WARN_PRINT("Tip cache is out of date. Updating...");
|
|
}
|
|
|
|
Node3D *tip = Object::cast_to<Node3D>(ObjectDB::get_instance(tip_node_cache));
|
|
if (tip) {
|
|
Transform3D bone_tip_trans = stack->skeleton->world_transform_to_global_pose(tip->get_global_transform());
|
|
joint_two_length = bone_two_rest_trans.origin.distance_to(bone_tip_trans.origin);
|
|
}
|
|
} else {
|
|
// Attempt to use children bones to get the length
|
|
Vector<int> bone_two_children = stack->skeleton->get_bone_children(joint_two_bone_idx);
|
|
if (bone_two_children.size() > 0) {
|
|
joint_two_length = 0;
|
|
for (int i = 0; i < bone_two_children.size(); i++) {
|
|
joint_two_length += bone_two_rest_trans.origin.distance_to(
|
|
stack->skeleton->get_bone_global_pose(bone_two_children[i]).origin);
|
|
}
|
|
joint_two_length = joint_two_length / bone_two_children.size();
|
|
} else {
|
|
WARN_PRINT("TwoBoneIK modification: Cannot auto calculate length for joint 2! Auto setting the length to 1...");
|
|
joint_two_length = 1.0;
|
|
}
|
|
}
|
|
execution_error_found = false;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_one_bone_name(String p_bone_name) {
|
|
joint_one_bone_name = p_bone_name;
|
|
if (stack && stack->skeleton) {
|
|
joint_one_bone_idx = stack->skeleton->find_bone(p_bone_name);
|
|
}
|
|
execution_error_found = false;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
String SkeletonModification3DTwoBoneIK::get_joint_one_bone_name() const {
|
|
return joint_one_bone_name;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_one_bone_idx(int p_bone_idx) {
|
|
joint_one_bone_idx = p_bone_idx;
|
|
if (stack && stack->skeleton) {
|
|
joint_one_bone_name = stack->skeleton->get_bone_name(p_bone_idx);
|
|
}
|
|
execution_error_found = false;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
int SkeletonModification3DTwoBoneIK::get_joint_one_bone_idx() const {
|
|
return joint_one_bone_idx;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_one_length(real_t p_length) {
|
|
joint_one_length = p_length;
|
|
}
|
|
|
|
real_t SkeletonModification3DTwoBoneIK::get_joint_one_length() const {
|
|
return joint_one_length;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_two_bone_name(String p_bone_name) {
|
|
joint_two_bone_name = p_bone_name;
|
|
if (stack && stack->skeleton) {
|
|
joint_two_bone_idx = stack->skeleton->find_bone(p_bone_name);
|
|
}
|
|
execution_error_found = false;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
String SkeletonModification3DTwoBoneIK::get_joint_two_bone_name() const {
|
|
return joint_two_bone_name;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_two_bone_idx(int p_bone_idx) {
|
|
joint_two_bone_idx = p_bone_idx;
|
|
if (stack && stack->skeleton) {
|
|
joint_two_bone_name = stack->skeleton->get_bone_name(p_bone_idx);
|
|
}
|
|
execution_error_found = false;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
int SkeletonModification3DTwoBoneIK::get_joint_two_bone_idx() const {
|
|
return joint_two_bone_idx;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_two_length(real_t p_length) {
|
|
joint_two_length = p_length;
|
|
}
|
|
|
|
real_t SkeletonModification3DTwoBoneIK::get_joint_two_length() const {
|
|
return joint_two_length;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_one_roll(real_t p_roll) {
|
|
joint_one_roll = p_roll;
|
|
}
|
|
|
|
real_t SkeletonModification3DTwoBoneIK::get_joint_one_roll() const {
|
|
return joint_one_roll;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::set_joint_two_roll(real_t p_roll) {
|
|
joint_two_roll = p_roll;
|
|
}
|
|
|
|
real_t SkeletonModification3DTwoBoneIK::get_joint_two_roll() const {
|
|
return joint_two_roll;
|
|
}
|
|
|
|
void SkeletonModification3DTwoBoneIK::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DTwoBoneIK::set_target_node);
|
|
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DTwoBoneIK::get_target_node);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_use_pole_node", "use_pole_node"), &SkeletonModification3DTwoBoneIK::set_use_pole_node);
|
|
ClassDB::bind_method(D_METHOD("get_use_pole_node"), &SkeletonModification3DTwoBoneIK::get_use_pole_node);
|
|
ClassDB::bind_method(D_METHOD("set_pole_node", "pole_nodepath"), &SkeletonModification3DTwoBoneIK::set_pole_node);
|
|
ClassDB::bind_method(D_METHOD("get_pole_node"), &SkeletonModification3DTwoBoneIK::get_pole_node);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_use_tip_node", "use_tip_node"), &SkeletonModification3DTwoBoneIK::set_use_tip_node);
|
|
ClassDB::bind_method(D_METHOD("get_use_tip_node"), &SkeletonModification3DTwoBoneIK::get_use_tip_node);
|
|
ClassDB::bind_method(D_METHOD("set_tip_node", "tip_nodepath"), &SkeletonModification3DTwoBoneIK::set_tip_node);
|
|
ClassDB::bind_method(D_METHOD("get_tip_node"), &SkeletonModification3DTwoBoneIK::get_tip_node);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_auto_calculate_joint_length", "auto_calculate_joint_length"), &SkeletonModification3DTwoBoneIK::set_auto_calculate_joint_length);
|
|
ClassDB::bind_method(D_METHOD("get_auto_calculate_joint_length"), &SkeletonModification3DTwoBoneIK::get_auto_calculate_joint_length);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_joint_one_bone_name", "bone_name"), &SkeletonModification3DTwoBoneIK::set_joint_one_bone_name);
|
|
ClassDB::bind_method(D_METHOD("get_joint_one_bone_name"), &SkeletonModification3DTwoBoneIK::get_joint_one_bone_name);
|
|
ClassDB::bind_method(D_METHOD("set_joint_one_bone_idx", "bone_idx"), &SkeletonModification3DTwoBoneIK::set_joint_one_bone_idx);
|
|
ClassDB::bind_method(D_METHOD("get_joint_one_bone_idx"), &SkeletonModification3DTwoBoneIK::get_joint_one_bone_idx);
|
|
ClassDB::bind_method(D_METHOD("set_joint_one_length", "bone_length"), &SkeletonModification3DTwoBoneIK::set_joint_one_length);
|
|
ClassDB::bind_method(D_METHOD("get_joint_one_length"), &SkeletonModification3DTwoBoneIK::get_joint_one_length);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_joint_two_bone_name", "bone_name"), &SkeletonModification3DTwoBoneIK::set_joint_two_bone_name);
|
|
ClassDB::bind_method(D_METHOD("get_joint_two_bone_name"), &SkeletonModification3DTwoBoneIK::get_joint_two_bone_name);
|
|
ClassDB::bind_method(D_METHOD("set_joint_two_bone_idx", "bone_idx"), &SkeletonModification3DTwoBoneIK::set_joint_two_bone_idx);
|
|
ClassDB::bind_method(D_METHOD("get_joint_two_bone_idx"), &SkeletonModification3DTwoBoneIK::get_joint_two_bone_idx);
|
|
ClassDB::bind_method(D_METHOD("set_joint_two_length", "bone_length"), &SkeletonModification3DTwoBoneIK::set_joint_two_length);
|
|
ClassDB::bind_method(D_METHOD("get_joint_two_length"), &SkeletonModification3DTwoBoneIK::get_joint_two_length);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_joint_one_roll", "roll"), &SkeletonModification3DTwoBoneIK::set_joint_one_roll);
|
|
ClassDB::bind_method(D_METHOD("get_joint_one_roll"), &SkeletonModification3DTwoBoneIK::get_joint_one_roll);
|
|
ClassDB::bind_method(D_METHOD("set_joint_two_roll", "roll"), &SkeletonModification3DTwoBoneIK::set_joint_two_roll);
|
|
ClassDB::bind_method(D_METHOD("get_joint_two_roll"), &SkeletonModification3DTwoBoneIK::get_joint_two_roll);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "set_target_node", "get_target_node");
|
|
ADD_GROUP("", "");
|
|
}
|
|
|
|
SkeletonModification3DTwoBoneIK::SkeletonModification3DTwoBoneIK() {
|
|
stack = nullptr;
|
|
is_setup = false;
|
|
}
|
|
|
|
SkeletonModification3DTwoBoneIK::~SkeletonModification3DTwoBoneIK() {
|
|
}
|