033abdc59f
Mark SkeletonModificationStack3D and related as deprecated. Mark local bone override and axis functions deprecated in Skeleton3D api. Fix array property glitch in SkeletonModificationStack2D Mark SkeletonModificationStack2D and related APIs as experimental. Mark SkeletonIK3D as deprecated.
133 lines
6.9 KiB
XML
133 lines
6.9 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<class name="SkeletonModification2DCCDIK" inherits="SkeletonModification2D" is_experimental="true" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
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<brief_description>
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A modification that uses CCDIK to manipulate a series of bones to reach a target in 2D.
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</brief_description>
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<description>
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This [SkeletonModification2D] uses an algorithm called Cyclic Coordinate Descent Inverse Kinematics, or CCDIK, to manipulate a chain of bones in a [Skeleton2D] so it reaches a defined target.
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CCDIK works by rotating a set of bones, typically called a "bone chain", on a single axis. Each bone is rotated to face the target from the tip (by default), which over a chain of bones allow it to rotate properly to reach the target. Because the bones only rotate on a single axis, CCDIK [i]can[/i] look more robotic than other IK solvers.
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[b]Note:[/b] The CCDIK modifier has [code]ccdik_joints[/code], which are the data objects that hold the data for each joint in the CCDIK chain. This is different from a bone! CCDIK joints hold the data needed for each bone in the bone chain used by CCDIK.
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CCDIK also fully supports angle constraints, allowing for more control over how a solution is met.
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</description>
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<tutorials>
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</tutorials>
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<methods>
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<method name="get_ccdik_joint_bone2d_node" qualifiers="const">
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<return type="NodePath" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns the [Bone2D] node assigned to the CCDIK joint at [param joint_idx].
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</description>
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</method>
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<method name="get_ccdik_joint_bone_index" qualifiers="const">
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<return type="int" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns the index of the [Bone2D] node assigned to the CCDIK joint at [param joint_idx].
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</description>
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</method>
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<method name="get_ccdik_joint_constraint_angle_invert" qualifiers="const">
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<return type="bool" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns whether the CCDIK joint at [param joint_idx] uses an inverted joint constraint. See [method set_ccdik_joint_constraint_angle_invert] for details.
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</description>
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</method>
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<method name="get_ccdik_joint_constraint_angle_max" qualifiers="const">
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<return type="float" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns the maximum angle constraint for the joint at [param joint_idx].
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</description>
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</method>
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<method name="get_ccdik_joint_constraint_angle_min" qualifiers="const">
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<return type="float" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns the minimum angle constraint for the joint at [param joint_idx].
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</description>
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</method>
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<method name="get_ccdik_joint_enable_constraint" qualifiers="const">
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<return type="bool" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns whether angle constraints on the CCDIK joint at [param joint_idx] are enabled.
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</description>
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</method>
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<method name="get_ccdik_joint_rotate_from_joint" qualifiers="const">
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<return type="bool" />
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<param index="0" name="joint_idx" type="int" />
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<description>
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Returns whether the joint at [param joint_idx] is set to rotate from the joint, [code]true[/code], or to rotate from the tip, [code]false[/code]. The default is to rotate from the tip.
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</description>
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</method>
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<method name="set_ccdik_joint_bone2d_node">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="bone2d_nodepath" type="NodePath" />
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<description>
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Sets the [Bone2D] node assigned to the CCDIK joint at [param joint_idx].
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</description>
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</method>
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<method name="set_ccdik_joint_bone_index">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="bone_idx" type="int" />
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<description>
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Sets the bone index, [param bone_idx], of the CCDIK joint at [param joint_idx]. When possible, this will also update the [code]bone2d_node[/code] of the CCDIK joint based on data provided by the linked skeleton.
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</description>
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</method>
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<method name="set_ccdik_joint_constraint_angle_invert">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="invert" type="bool" />
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<description>
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Sets whether the CCDIK joint at [param joint_idx] uses an inverted joint constraint.
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An inverted joint constraint only constraints the CCDIK joint to the angles [i]outside of[/i] the inputted minimum and maximum angles. For this reason, it is referred to as an inverted joint constraint, as it constraints the joint to the outside of the inputted values.
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</description>
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</method>
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<method name="set_ccdik_joint_constraint_angle_max">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="angle_max" type="float" />
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<description>
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Sets the maximum angle constraint for the joint at [param joint_idx].
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</description>
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</method>
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<method name="set_ccdik_joint_constraint_angle_min">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="angle_min" type="float" />
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<description>
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Sets the minimum angle constraint for the joint at [param joint_idx].
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</description>
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</method>
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<method name="set_ccdik_joint_enable_constraint">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="enable_constraint" type="bool" />
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<description>
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Determines whether angle constraints on the CCDIK joint at [param joint_idx] are enabled. When [code]true[/code], constraints will be enabled and taken into account when solving.
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</description>
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</method>
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<method name="set_ccdik_joint_rotate_from_joint">
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<return type="void" />
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<param index="0" name="joint_idx" type="int" />
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<param index="1" name="rotate_from_joint" type="bool" />
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<description>
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Sets whether the joint at [param joint_idx] is set to rotate from the joint, [code]true[/code], or to rotate from the tip, [code]false[/code].
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</description>
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</method>
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</methods>
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<members>
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<member name="ccdik_data_chain_length" type="int" setter="set_ccdik_data_chain_length" getter="get_ccdik_data_chain_length" default="0">
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The number of CCDIK joints in the CCDIK modification.
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</member>
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<member name="target_nodepath" type="NodePath" setter="set_target_node" getter="get_target_node" default="NodePath("")">
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The NodePath to the node that is the target for the CCDIK modification. This node is what the CCDIK chain will attempt to rotate the bone chain to.
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</member>
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<member name="tip_nodepath" type="NodePath" setter="set_tip_node" getter="get_tip_node" default="NodePath("")">
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The end position of the CCDIK chain. Typically, this should be a child of a [Bone2D] node attached to the final [Bone2D] in the CCDIK chain.
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</member>
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</members>
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</class>
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