616 lines
21 KiB
C++
616 lines
21 KiB
C++
/*************************************************************************/
|
|
/* skeleton_ik_3d.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 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. */
|
|
/*************************************************************************/
|
|
|
|
/**
|
|
* @author AndreaCatania
|
|
*/
|
|
|
|
#include "skeleton_ik_3d.h"
|
|
|
|
#ifndef _3D_DISABLED
|
|
|
|
FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::find_child(const BoneId p_bone_id) {
|
|
for (int i = children.size() - 1; 0 <= i; --i) {
|
|
if (p_bone_id == children[i].bone) {
|
|
return &children.write[i];
|
|
}
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::add_child(const BoneId p_bone_id) {
|
|
const int infant_child_id = children.size();
|
|
children.resize(infant_child_id + 1);
|
|
children.write[infant_child_id].bone = p_bone_id;
|
|
children.write[infant_child_id].parent_item = this;
|
|
return &children.write[infant_child_id];
|
|
}
|
|
|
|
/// Build a chain that starts from the root to tip
|
|
bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
|
|
ERR_FAIL_COND_V(-1 == p_task->root_bone, false);
|
|
|
|
Chain &chain(p_task->chain);
|
|
|
|
chain.tips.resize(p_task->end_effectors.size());
|
|
chain.chain_root.bone = p_task->root_bone;
|
|
chain.chain_root.initial_transform = p_task->skeleton->get_bone_global_pose(chain.chain_root.bone);
|
|
chain.chain_root.current_pos = chain.chain_root.initial_transform.origin;
|
|
chain.middle_chain_item = nullptr;
|
|
|
|
// Holds all IDs that are composing a single chain in reverse order
|
|
Vector<BoneId> chain_ids;
|
|
// This is used to know the chain size
|
|
int sub_chain_size;
|
|
// Resize only one time in order to fit all joints for performance reason
|
|
chain_ids.resize(p_task->skeleton->get_bone_count());
|
|
|
|
for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) {
|
|
const EndEffector *ee(&p_task->end_effectors[x]);
|
|
ERR_FAIL_COND_V(p_task->root_bone >= ee->tip_bone, false);
|
|
ERR_FAIL_INDEX_V(ee->tip_bone, p_task->skeleton->get_bone_count(), false);
|
|
|
|
sub_chain_size = 0;
|
|
// Picks all IDs that composing a single chain in reverse order (except the root)
|
|
BoneId chain_sub_tip(ee->tip_bone);
|
|
while (chain_sub_tip > p_task->root_bone) {
|
|
chain_ids.write[sub_chain_size++] = chain_sub_tip;
|
|
chain_sub_tip = p_task->skeleton->get_bone_parent(chain_sub_tip);
|
|
}
|
|
|
|
BoneId middle_chain_item_id = (((float)sub_chain_size) * 0.5);
|
|
|
|
// Build chain by reading chain ids in reverse order
|
|
// For each chain item id will be created a ChainItem if doesn't exists
|
|
ChainItem *sub_chain(&chain.chain_root);
|
|
for (int i = sub_chain_size - 1; 0 <= i; --i) {
|
|
ChainItem *child_ci(sub_chain->find_child(chain_ids[i]));
|
|
if (!child_ci) {
|
|
child_ci = sub_chain->add_child(chain_ids[i]);
|
|
|
|
child_ci->initial_transform = p_task->skeleton->get_bone_global_pose(child_ci->bone);
|
|
child_ci->current_pos = child_ci->initial_transform.origin;
|
|
|
|
if (child_ci->parent_item) {
|
|
child_ci->length = (child_ci->current_pos - child_ci->parent_item->current_pos).length();
|
|
}
|
|
}
|
|
|
|
sub_chain = child_ci;
|
|
|
|
if (middle_chain_item_id == i) {
|
|
chain.middle_chain_item = child_ci;
|
|
}
|
|
}
|
|
|
|
if (!middle_chain_item_id) {
|
|
chain.middle_chain_item = nullptr;
|
|
}
|
|
|
|
// Initialize current tip
|
|
chain.tips.write[x].chain_item = sub_chain;
|
|
chain.tips.write[x].end_effector = ee;
|
|
|
|
if (p_force_simple_chain) {
|
|
// NOTE:
|
|
// This is a "hack" that force to create only one tip per chain since the solver of multi tip (end effector)
|
|
// is not yet created.
|
|
// Remove this code when this is done
|
|
break;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet) {
|
|
real_t distance_to_goal(1e4);
|
|
real_t previous_distance_to_goal(0);
|
|
int can_solve(p_task->max_iterations);
|
|
while (distance_to_goal > p_task->min_distance && Math::abs(previous_distance_to_goal - distance_to_goal) > 0.005 && can_solve) {
|
|
previous_distance_to_goal = distance_to_goal;
|
|
--can_solve;
|
|
|
|
solve_simple_backwards(p_task->chain, p_solve_magnet);
|
|
solve_simple_forwards(p_task->chain, p_solve_magnet);
|
|
|
|
distance_to_goal = (p_task->chain.tips[0].chain_item->current_pos - p_task->chain.tips[0].end_effector->goal_transform.origin).length();
|
|
}
|
|
}
|
|
|
|
void FabrikInverseKinematic::solve_simple_backwards(Chain &r_chain, bool p_solve_magnet) {
|
|
if (p_solve_magnet && !r_chain.middle_chain_item) {
|
|
return;
|
|
}
|
|
|
|
Vector3 goal;
|
|
ChainItem *sub_chain_tip;
|
|
if (p_solve_magnet) {
|
|
goal = r_chain.magnet_position;
|
|
sub_chain_tip = r_chain.middle_chain_item;
|
|
} else {
|
|
goal = r_chain.tips[0].end_effector->goal_transform.origin;
|
|
sub_chain_tip = r_chain.tips[0].chain_item;
|
|
}
|
|
|
|
while (sub_chain_tip) {
|
|
sub_chain_tip->current_pos = goal;
|
|
|
|
if (sub_chain_tip->parent_item) {
|
|
// Not yet in the chain root
|
|
// So calculate next goal location
|
|
|
|
const Vector3 look_parent((sub_chain_tip->parent_item->current_pos - sub_chain_tip->current_pos).normalized());
|
|
goal = sub_chain_tip->current_pos + (look_parent * sub_chain_tip->length);
|
|
|
|
// [TODO] Constraints goes here
|
|
}
|
|
|
|
sub_chain_tip = sub_chain_tip->parent_item;
|
|
}
|
|
}
|
|
|
|
void FabrikInverseKinematic::solve_simple_forwards(Chain &r_chain, bool p_solve_magnet) {
|
|
if (p_solve_magnet && !r_chain.middle_chain_item) {
|
|
return;
|
|
}
|
|
|
|
ChainItem *sub_chain_root(&r_chain.chain_root);
|
|
Vector3 origin(r_chain.chain_root.initial_transform.origin);
|
|
|
|
while (sub_chain_root) { // Reach the tip
|
|
sub_chain_root->current_pos = origin;
|
|
|
|
if (!sub_chain_root->children.is_empty()) {
|
|
ChainItem &child(sub_chain_root->children.write[0]);
|
|
|
|
// Is not tip
|
|
// So calculate next origin location
|
|
|
|
// Look child
|
|
sub_chain_root->current_ori = (child.current_pos - sub_chain_root->current_pos).normalized();
|
|
origin = sub_chain_root->current_pos + (sub_chain_root->current_ori * child.length);
|
|
|
|
// [TODO] Constraints goes here
|
|
|
|
if (p_solve_magnet && sub_chain_root == r_chain.middle_chain_item) {
|
|
// In case of magnet solving this is the tip
|
|
sub_chain_root = nullptr;
|
|
} else {
|
|
sub_chain_root = &child;
|
|
}
|
|
} else {
|
|
// Is tip
|
|
sub_chain_root = nullptr;
|
|
}
|
|
}
|
|
}
|
|
|
|
FabrikInverseKinematic::Task *FabrikInverseKinematic::create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform) {
|
|
FabrikInverseKinematic::EndEffector ee;
|
|
ee.tip_bone = tip_bone;
|
|
|
|
Task *task(memnew(Task));
|
|
task->skeleton = p_sk;
|
|
task->root_bone = root_bone;
|
|
task->end_effectors.push_back(ee);
|
|
task->goal_global_transform = goal_transform;
|
|
|
|
if (!build_chain(task)) {
|
|
free_task(task);
|
|
return nullptr;
|
|
}
|
|
|
|
return task;
|
|
}
|
|
|
|
void FabrikInverseKinematic::free_task(Task *p_task) {
|
|
if (p_task) {
|
|
memdelete(p_task);
|
|
}
|
|
}
|
|
|
|
void FabrikInverseKinematic::set_goal(Task *p_task, const Transform &p_goal) {
|
|
p_task->goal_global_transform = p_goal;
|
|
}
|
|
|
|
void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta) {
|
|
if (blending_delta >= 0.99f) {
|
|
// Update the end_effector (local transform) without blending
|
|
p_task->end_effectors.write[0].goal_transform = p_inverse_transf * p_task->goal_global_transform;
|
|
} else {
|
|
// End effector in local transform
|
|
const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors[0].tip_bone));
|
|
|
|
// Update the end_effector (local transform) by blending with current pose
|
|
p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
|
|
}
|
|
}
|
|
|
|
void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position) {
|
|
if (blending_delta <= 0.01f) {
|
|
// Before skipping, make sure we undo the global pose overrides
|
|
ChainItem *ci(&p_task->chain.chain_root);
|
|
while (ci) {
|
|
p_task->skeleton->set_bone_global_pose_override(ci->bone, ci->initial_transform, 0.0, false);
|
|
|
|
if (!ci->children.is_empty()) {
|
|
ci = &ci->children.write[0];
|
|
} else {
|
|
ci = nullptr;
|
|
}
|
|
}
|
|
|
|
return; // Skip solving
|
|
}
|
|
|
|
p_task->skeleton->set_bone_global_pose_override(p_task->chain.chain_root.bone, Transform(), 0.0, true);
|
|
|
|
if (p_task->chain.middle_chain_item) {
|
|
p_task->skeleton->set_bone_global_pose_override(p_task->chain.middle_chain_item->bone, Transform(), 0.0, true);
|
|
}
|
|
|
|
for (int i = 0; i < p_task->chain.tips.size(); i += 1) {
|
|
p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true);
|
|
}
|
|
|
|
// Update the transforms to their global poses
|
|
// (Needed to sync IK with animation)
|
|
_update_chain(p_task->skeleton, &p_task->chain.chain_root);
|
|
|
|
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta);
|
|
|
|
if (p_use_magnet && p_task->chain.middle_chain_item) {
|
|
p_task->chain.magnet_position = p_task->chain.middle_chain_item->initial_transform.origin.lerp(p_magnet_position, blending_delta);
|
|
solve_simple(p_task, true);
|
|
}
|
|
solve_simple(p_task, false);
|
|
|
|
// Assign new bone position.
|
|
ChainItem *ci(&p_task->chain.chain_root);
|
|
while (ci) {
|
|
Transform new_bone_pose(ci->initial_transform);
|
|
new_bone_pose.origin = ci->current_pos;
|
|
|
|
// The root bone needs to be rotated differently so it isn't frozen in place.
|
|
if (ci == &p_task->chain.chain_root && !ci->children.is_empty()) {
|
|
new_bone_pose = new_bone_pose.looking_at(ci->children[0].current_pos);
|
|
const Vector3 bone_rest_dir = p_task->skeleton->get_bone_rest(ci->children[0].bone).origin.normalized().abs();
|
|
const Vector3 bone_rest_dir_abs = bone_rest_dir.abs();
|
|
if (bone_rest_dir_abs.x > bone_rest_dir_abs.y && bone_rest_dir_abs.x > bone_rest_dir_abs.z) {
|
|
if (bone_rest_dir.x < 0) {
|
|
new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), -Math_PI / 2.0f);
|
|
} else {
|
|
new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), Math_PI / 2.0f);
|
|
}
|
|
} else if (bone_rest_dir_abs.y > bone_rest_dir_abs.x && bone_rest_dir_abs.y > bone_rest_dir_abs.z) {
|
|
if (bone_rest_dir.y < 0) {
|
|
new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), Math_PI / 2.0f);
|
|
} else {
|
|
new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), -Math_PI / 2.0f);
|
|
}
|
|
} else {
|
|
if (bone_rest_dir.z < 0) {
|
|
// Do nothing!
|
|
} else {
|
|
new_bone_pose.basis.rotate_local(Vector3(0, 0, 1), Math_PI);
|
|
}
|
|
}
|
|
} else {
|
|
if (!ci->children.is_empty()) {
|
|
/// Rotate basis
|
|
const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized());
|
|
const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized());
|
|
|
|
if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
|
|
const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
|
|
new_bone_pose.basis.rotate(rot_axis, rot_angle);
|
|
}
|
|
|
|
} else {
|
|
// Set target orientation to tip
|
|
if (override_tip_basis) {
|
|
new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
|
|
} else {
|
|
new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
|
|
}
|
|
}
|
|
}
|
|
|
|
// IK should not affect scale, so undo any scaling
|
|
new_bone_pose.basis.orthonormalize();
|
|
new_bone_pose.basis.scale(p_task->skeleton->get_bone_global_pose(ci->bone).basis.get_scale());
|
|
|
|
p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0, true);
|
|
|
|
if (!ci->children.is_empty()) {
|
|
ci = &ci->children.write[0];
|
|
} else {
|
|
ci = nullptr;
|
|
}
|
|
}
|
|
}
|
|
|
|
void FabrikInverseKinematic::_update_chain(const Skeleton3D *p_sk, ChainItem *p_chain_item) {
|
|
if (!p_chain_item) {
|
|
return;
|
|
}
|
|
|
|
p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone);
|
|
p_chain_item->current_pos = p_chain_item->initial_transform.origin;
|
|
|
|
ChainItem *items = p_chain_item->children.ptrw();
|
|
for (int i = 0; i < p_chain_item->children.size(); i += 1) {
|
|
_update_chain(p_sk, items + i);
|
|
}
|
|
}
|
|
|
|
void SkeletonIK3D::_validate_property(PropertyInfo &property) const {
|
|
if (property.name == "root_bone" || property.name == "tip_bone") {
|
|
if (skeleton) {
|
|
String names("--,");
|
|
for (int i = 0; i < skeleton->get_bone_count(); i++) {
|
|
if (i > 0) {
|
|
names += ",";
|
|
}
|
|
names += skeleton->get_bone_name(i);
|
|
}
|
|
|
|
property.hint = PROPERTY_HINT_ENUM;
|
|
property.hint_string = names;
|
|
} else {
|
|
property.hint = PROPERTY_HINT_NONE;
|
|
property.hint_string = "";
|
|
}
|
|
}
|
|
}
|
|
|
|
void SkeletonIK3D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("set_root_bone", "root_bone"), &SkeletonIK3D::set_root_bone);
|
|
ClassDB::bind_method(D_METHOD("get_root_bone"), &SkeletonIK3D::get_root_bone);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_tip_bone", "tip_bone"), &SkeletonIK3D::set_tip_bone);
|
|
ClassDB::bind_method(D_METHOD("get_tip_bone"), &SkeletonIK3D::get_tip_bone);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_interpolation", "interpolation"), &SkeletonIK3D::set_interpolation);
|
|
ClassDB::bind_method(D_METHOD("get_interpolation"), &SkeletonIK3D::get_interpolation);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_target_transform", "target"), &SkeletonIK3D::set_target_transform);
|
|
ClassDB::bind_method(D_METHOD("get_target_transform"), &SkeletonIK3D::get_target_transform);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_target_node", "node"), &SkeletonIK3D::set_target_node);
|
|
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonIK3D::get_target_node);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_override_tip_basis", "override"), &SkeletonIK3D::set_override_tip_basis);
|
|
ClassDB::bind_method(D_METHOD("is_override_tip_basis"), &SkeletonIK3D::is_override_tip_basis);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_use_magnet", "use"), &SkeletonIK3D::set_use_magnet);
|
|
ClassDB::bind_method(D_METHOD("is_using_magnet"), &SkeletonIK3D::is_using_magnet);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_magnet_position", "local_position"), &SkeletonIK3D::set_magnet_position);
|
|
ClassDB::bind_method(D_METHOD("get_magnet_position"), &SkeletonIK3D::get_magnet_position);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_parent_skeleton"), &SkeletonIK3D::get_parent_skeleton);
|
|
ClassDB::bind_method(D_METHOD("is_running"), &SkeletonIK3D::is_running);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_min_distance", "min_distance"), &SkeletonIK3D::set_min_distance);
|
|
ClassDB::bind_method(D_METHOD("get_min_distance"), &SkeletonIK3D::get_min_distance);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_max_iterations", "iterations"), &SkeletonIK3D::set_max_iterations);
|
|
ClassDB::bind_method(D_METHOD("get_max_iterations"), &SkeletonIK3D::get_max_iterations);
|
|
|
|
ClassDB::bind_method(D_METHOD("start", "one_time"), &SkeletonIK3D::start, DEFVAL(false));
|
|
ClassDB::bind_method(D_METHOD("stop"), &SkeletonIK3D::stop);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "root_bone"), "set_root_bone", "get_root_bone");
|
|
ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "tip_bone"), "set_tip_bone", "get_tip_bone");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "interpolation", PROPERTY_HINT_RANGE, "0,1,0.001"), "set_interpolation", "get_interpolation");
|
|
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "target"), "set_target_transform", "get_target_transform");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "override_tip_basis"), "set_override_tip_basis", "is_override_tip_basis");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_magnet"), "set_use_magnet", "is_using_magnet");
|
|
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "magnet"), "set_magnet_position", "get_magnet_position");
|
|
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_node"), "set_target_node", "get_target_node");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "min_distance"), "set_min_distance", "get_min_distance");
|
|
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_iterations"), "set_max_iterations", "get_max_iterations");
|
|
}
|
|
|
|
void SkeletonIK3D::_notification(int p_what) {
|
|
switch (p_what) {
|
|
case NOTIFICATION_ENTER_TREE: {
|
|
skeleton = Object::cast_to<Skeleton3D>(get_parent());
|
|
set_process_priority(1);
|
|
reload_chain();
|
|
} break;
|
|
case NOTIFICATION_INTERNAL_PROCESS: {
|
|
if (target_node_override) {
|
|
reload_goal();
|
|
}
|
|
|
|
_solve_chain();
|
|
|
|
} break;
|
|
case NOTIFICATION_EXIT_TREE: {
|
|
reload_chain();
|
|
} break;
|
|
}
|
|
}
|
|
|
|
SkeletonIK3D::SkeletonIK3D() {
|
|
}
|
|
|
|
SkeletonIK3D::~SkeletonIK3D() {
|
|
FabrikInverseKinematic::free_task(task);
|
|
task = nullptr;
|
|
}
|
|
|
|
void SkeletonIK3D::set_root_bone(const StringName &p_root_bone) {
|
|
root_bone = p_root_bone;
|
|
reload_chain();
|
|
}
|
|
|
|
StringName SkeletonIK3D::get_root_bone() const {
|
|
return root_bone;
|
|
}
|
|
|
|
void SkeletonIK3D::set_tip_bone(const StringName &p_tip_bone) {
|
|
tip_bone = p_tip_bone;
|
|
reload_chain();
|
|
}
|
|
|
|
StringName SkeletonIK3D::get_tip_bone() const {
|
|
return tip_bone;
|
|
}
|
|
|
|
void SkeletonIK3D::set_interpolation(real_t p_interpolation) {
|
|
interpolation = p_interpolation;
|
|
}
|
|
|
|
real_t SkeletonIK3D::get_interpolation() const {
|
|
return interpolation;
|
|
}
|
|
|
|
void SkeletonIK3D::set_target_transform(const Transform &p_target) {
|
|
target = p_target;
|
|
reload_goal();
|
|
}
|
|
|
|
const Transform &SkeletonIK3D::get_target_transform() const {
|
|
return target;
|
|
}
|
|
|
|
void SkeletonIK3D::set_target_node(const NodePath &p_node) {
|
|
target_node_path_override = p_node;
|
|
target_node_override = nullptr;
|
|
reload_goal();
|
|
}
|
|
|
|
NodePath SkeletonIK3D::get_target_node() {
|
|
return target_node_path_override;
|
|
}
|
|
|
|
void SkeletonIK3D::set_override_tip_basis(bool p_override) {
|
|
override_tip_basis = p_override;
|
|
}
|
|
|
|
bool SkeletonIK3D::is_override_tip_basis() const {
|
|
return override_tip_basis;
|
|
}
|
|
|
|
void SkeletonIK3D::set_use_magnet(bool p_use) {
|
|
use_magnet = p_use;
|
|
}
|
|
|
|
bool SkeletonIK3D::is_using_magnet() const {
|
|
return use_magnet;
|
|
}
|
|
|
|
void SkeletonIK3D::set_magnet_position(const Vector3 &p_local_position) {
|
|
magnet_position = p_local_position;
|
|
}
|
|
|
|
const Vector3 &SkeletonIK3D::get_magnet_position() const {
|
|
return magnet_position;
|
|
}
|
|
|
|
void SkeletonIK3D::set_min_distance(real_t p_min_distance) {
|
|
min_distance = p_min_distance;
|
|
}
|
|
|
|
void SkeletonIK3D::set_max_iterations(int p_iterations) {
|
|
max_iterations = p_iterations;
|
|
}
|
|
|
|
bool SkeletonIK3D::is_running() {
|
|
return is_processing_internal();
|
|
}
|
|
|
|
void SkeletonIK3D::start(bool p_one_time) {
|
|
if (p_one_time) {
|
|
set_process_internal(false);
|
|
|
|
if (target_node_override) {
|
|
reload_goal();
|
|
}
|
|
|
|
_solve_chain();
|
|
} else {
|
|
set_process_internal(true);
|
|
}
|
|
}
|
|
|
|
void SkeletonIK3D::stop() {
|
|
set_process_internal(false);
|
|
if (skeleton) {
|
|
skeleton->clear_bones_global_pose_override();
|
|
}
|
|
}
|
|
|
|
Transform SkeletonIK3D::_get_target_transform() {
|
|
if (!target_node_override && !target_node_path_override.is_empty()) {
|
|
target_node_override = Object::cast_to<Node3D>(get_node(target_node_path_override));
|
|
}
|
|
|
|
if (target_node_override) {
|
|
return target_node_override->get_global_transform();
|
|
} else {
|
|
return target;
|
|
}
|
|
}
|
|
|
|
void SkeletonIK3D::reload_chain() {
|
|
FabrikInverseKinematic::free_task(task);
|
|
task = nullptr;
|
|
|
|
if (!skeleton) {
|
|
return;
|
|
}
|
|
|
|
task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform());
|
|
if (task) {
|
|
task->max_iterations = max_iterations;
|
|
task->min_distance = min_distance;
|
|
}
|
|
}
|
|
|
|
void SkeletonIK3D::reload_goal() {
|
|
if (!task) {
|
|
return;
|
|
}
|
|
|
|
FabrikInverseKinematic::set_goal(task, _get_target_transform());
|
|
}
|
|
|
|
void SkeletonIK3D::_solve_chain() {
|
|
if (!task) {
|
|
return;
|
|
}
|
|
FabrikInverseKinematic::solve(task, interpolation, override_tip_basis, use_magnet, magnet_position);
|
|
}
|
|
|
|
#endif // _3D_DISABLED
|