5ffed49907
This PR and commit adds a new IK system for 3D with the Skeleton3D node
that adds several new IK solvers, as well as additional changes and functionality
for making bone manipulation in Godot easier.
This work was sponsored by GSoC 2020 and TwistedTwigleg
Full list of changes:
* Adds a SkeletonModification3D resource
* This resource is the base where all IK code is written and executed
* Adds a SkeletonModificationStack3D resource
* This node oversees the execution of the modifications and acts as a bridge of sorts for the modifications to the Skeleton3D node
* Adds SkeletonModification3D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in it's own file
* Several changes to Skeletons, listed below:
* Added local_pose_override, which acts just like global_pose_override but keeps bone-child relationships intract
* So if you move a bone using local_pose_override, all of the bones that are children will also be moved. This is different than global_pose_override, which only affects the individual bone
* Internally bones keep track of their children. This removes the need of a processing list, makes it possible to update just a few select bones at a time, and makes it easier to traverse down the bone chain
* Additional functions added for converting from world transform to global poses, global poses to local poses, and all the same changes but backwards (local to global, global to world). This makes it much easier to work with bone transforms without needing to think too much about how to convert them.
* New signal added, bone_pose_changed, that can be used to tell if a specific bone changed its transform. Needed for BoneAttachment3D
* Added functions for getting the forward position of a bone
* BoneAttachment3D node refactored heavily
* BoneAttachment3D node is now completely standalone in its functionality.
* This makes the code easier and less interconnected, as well as allowing them to function properly without being direct children of Skeleton3D nodes
* BoneAttachment3D now can be set either using the index or the bone name.
* BoneAttachment3D nodes can now set the bone transform instead of just following it. This is disabled by default for compatibility
* BoneAttachment3D now shows a warning when not configured correctly
* Added rotate_to_align function in Basis
* Added class reference documentation for all changes
599 lines
28 KiB
C++
599 lines
28 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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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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::deg2rad(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::deg2rad(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::rad2deg(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::rad2deg(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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bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx));
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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, stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx));
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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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bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx));
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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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}
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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->local_pose_to_global_pose(bone_two_children[i], stack->skeleton->get_bone_rest(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() {
|
|
}
|