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
405 lines
14 KiB
C++
405 lines
14 KiB
C++
/*************************************************************************/
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/* bone_attachment_3d.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 "bone_attachment_3d.h"
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void BoneAttachment3D::_validate_property(PropertyInfo &property) const {
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if (property.name == "bone_name") {
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// Because it is a constant function, we cannot use the _get_skeleton_3d function.
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const Skeleton3D *parent = nullptr;
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if (use_external_skeleton) {
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if (external_skeleton_node_cache.is_valid()) {
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parent = Object::cast_to<Skeleton3D>(ObjectDB::get_instance(external_skeleton_node_cache));
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}
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} else {
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parent = Object::cast_to<Skeleton3D>(get_parent());
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}
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if (parent) {
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String names;
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for (int i = 0; i < parent->get_bone_count(); i++) {
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if (i > 0) {
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names += ",";
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}
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names += parent->get_bone_name(i);
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}
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property.hint = PROPERTY_HINT_ENUM;
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property.hint_string = names;
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} else {
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property.hint = PROPERTY_HINT_NONE;
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property.hint_string = "";
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}
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}
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}
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bool BoneAttachment3D::_set(const StringName &p_path, const Variant &p_value) {
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if (p_path == SNAME("override_pose")) {
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set_override_pose(p_value);
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} else if (p_path == SNAME("override_mode")) {
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set_override_mode(p_value);
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} else if (p_path == SNAME("use_external_skeleton")) {
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set_use_external_skeleton(p_value);
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} else if (p_path == SNAME("external_skeleton")) {
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set_external_skeleton(p_value);
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}
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return true;
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}
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bool BoneAttachment3D::_get(const StringName &p_path, Variant &r_ret) const {
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if (p_path == SNAME("override_pose")) {
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r_ret = get_override_pose();
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} else if (p_path == SNAME("override_mode")) {
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r_ret = get_override_mode();
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} else if (p_path == SNAME("use_external_skeleton")) {
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r_ret = get_use_external_skeleton();
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} else if (p_path == SNAME("external_skeleton")) {
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r_ret = get_external_skeleton();
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}
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return true;
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}
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void BoneAttachment3D::_get_property_list(List<PropertyInfo> *p_list) const {
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p_list->push_back(PropertyInfo(Variant::BOOL, "override_pose", PROPERTY_HINT_NONE, ""));
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if (override_pose) {
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p_list->push_back(PropertyInfo(Variant::INT, "override_mode", PROPERTY_HINT_ENUM, "Global Pose Override, Local Pose Override, Custom Pose"));
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}
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p_list->push_back(PropertyInfo(Variant::BOOL, "use_external_skeleton", PROPERTY_HINT_NONE, ""));
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if (use_external_skeleton) {
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p_list->push_back(PropertyInfo(Variant::NODE_PATH, "external_skeleton", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"));
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}
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}
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TypedArray<String> BoneAttachment3D::get_configuration_warnings() const {
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TypedArray<String> warnings = Node3D::get_configuration_warnings();
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if (use_external_skeleton) {
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if (external_skeleton_node_cache.is_null()) {
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warnings.append(TTR("External Skeleton3D node not set! Please set a path to an external Skeleton3D node."));
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}
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} else {
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Skeleton3D *parent = Object::cast_to<Skeleton3D>(get_parent());
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if (!parent) {
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warnings.append(TTR("Parent node is not a Skeleton3D node! Please use an extenral Skeleton3D if you intend to use the BoneAttachment3D without it being a child of a Skeleton3D node."));
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}
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}
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if (bone_idx == -1) {
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warnings.append(TTR("BoneAttachment3D node is not bound to any bones! Please select a bone to attach this node."));
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}
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return warnings;
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}
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void BoneAttachment3D::_update_external_skeleton_cache() {
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external_skeleton_node_cache = ObjectID();
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if (has_node(external_skeleton_node)) {
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Node *node = get_node(external_skeleton_node);
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ERR_FAIL_COND_MSG(!node, "Cannot update external skeleton cache: Node cannot be found!");
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// Make sure it's a skeleton3D
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Skeleton3D *sk = Object::cast_to<Skeleton3D>(node);
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ERR_FAIL_COND_MSG(!sk, "Cannot update external skeleton cache: Skeleton3D Nodepath does not point to a Skeleton3D node!");
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external_skeleton_node_cache = node->get_instance_id();
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} else {
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if (external_skeleton_node.is_empty()) {
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BoneAttachment3D *parent_attachment = Object::cast_to<BoneAttachment3D>(get_parent());
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if (parent_attachment) {
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parent_attachment->_update_external_skeleton_cache();
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if (parent_attachment->has_node(parent_attachment->external_skeleton_node)) {
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Node *node = parent_attachment->get_node(parent_attachment->external_skeleton_node);
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ERR_FAIL_COND_MSG(!node, "Cannot update external skeleton cache: Parent's Skeleton3D node cannot be found!");
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// Make sure it's a skeleton3D
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Skeleton3D *sk = Object::cast_to<Skeleton3D>(node);
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ERR_FAIL_COND_MSG(!sk, "Cannot update external skeleton cache: Parent Skeleton3D Nodepath does not point to a Skeleton3D node!");
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external_skeleton_node_cache = node->get_instance_id();
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external_skeleton_node = get_path_to(node);
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}
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}
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}
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}
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}
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void BoneAttachment3D::_check_bind() {
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Skeleton3D *sk = _get_skeleton3d();
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if (sk && !bound) {
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if (bone_idx <= -1) {
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bone_idx = sk->find_bone(bone_name);
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}
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if (bone_idx != -1) {
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sk->call_deferred("connect", "bone_pose_changed", callable_mp(this, &BoneAttachment3D::on_bone_pose_update));
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bound = true;
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call_deferred(SNAME("on_bone_pose_update"), bone_idx);
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}
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}
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}
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Skeleton3D *BoneAttachment3D::_get_skeleton3d() {
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if (use_external_skeleton) {
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if (external_skeleton_node_cache.is_valid()) {
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return Object::cast_to<Skeleton3D>(ObjectDB::get_instance(external_skeleton_node_cache));
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} else {
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_update_external_skeleton_cache();
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if (external_skeleton_node_cache.is_valid()) {
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return Object::cast_to<Skeleton3D>(ObjectDB::get_instance(external_skeleton_node_cache));
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}
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}
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} else {
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return Object::cast_to<Skeleton3D>(get_parent());
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}
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return nullptr;
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}
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void BoneAttachment3D::_check_unbind() {
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if (bound) {
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Skeleton3D *sk = _get_skeleton3d();
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if (sk) {
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sk->disconnect(SNAME("bone_pose_changed"), callable_mp(this, &BoneAttachment3D::on_bone_pose_update));
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}
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bound = false;
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}
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}
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void BoneAttachment3D::_transform_changed() {
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if (!is_inside_tree()) {
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return;
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}
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if (override_pose) {
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Skeleton3D *sk = _get_skeleton3d();
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ERR_FAIL_COND_MSG(!sk, "Cannot override pose: Skeleton not found!");
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ERR_FAIL_INDEX_MSG(bone_idx, sk->get_bone_count(), "Cannot override pose: Bone index is out of range!");
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Transform3D our_trans = get_transform();
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if (use_external_skeleton) {
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our_trans = sk->world_transform_to_global_pose(get_global_transform());
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}
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if (override_mode == OVERRIDE_MODES::MODE_GLOBAL_POSE) {
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sk->set_bone_global_pose_override(bone_idx, our_trans, 1.0, true);
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} else if (override_mode == OVERRIDE_MODES::MODE_LOCAL_POSE) {
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sk->set_bone_local_pose_override(bone_idx, sk->global_pose_to_local_pose(bone_idx, our_trans), 1.0, true);
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} else if (override_mode == OVERRIDE_MODES::MODE_CUSTOM_POSE) {
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sk->set_bone_custom_pose(bone_idx, sk->global_pose_to_local_pose(bone_idx, our_trans));
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}
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}
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}
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void BoneAttachment3D::set_bone_name(const String &p_name) {
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bone_name = p_name;
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Skeleton3D *sk = _get_skeleton3d();
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if (sk) {
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set_bone_idx(sk->find_bone(bone_name));
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}
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}
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String BoneAttachment3D::get_bone_name() const {
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return bone_name;
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}
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void BoneAttachment3D::set_bone_idx(const int &p_idx) {
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if (is_inside_tree()) {
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_check_unbind();
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}
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bone_idx = p_idx;
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Skeleton3D *sk = _get_skeleton3d();
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if (sk) {
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if (bone_idx <= -1 || bone_idx >= sk->get_bone_count()) {
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WARN_PRINT("Bone index out of range! Cannot connect BoneAttachment to node!");
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bone_idx = -1;
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} else {
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bone_name = sk->get_bone_name(bone_idx);
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}
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}
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if (is_inside_tree()) {
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_check_bind();
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}
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notify_property_list_changed();
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}
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int BoneAttachment3D::get_bone_idx() const {
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return bone_idx;
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}
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void BoneAttachment3D::set_override_pose(bool p_override) {
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override_pose = p_override;
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set_notify_local_transform(override_pose);
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set_process_internal(override_pose);
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if (!override_pose) {
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Skeleton3D *sk = _get_skeleton3d();
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if (sk) {
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if (override_mode == OVERRIDE_MODES::MODE_GLOBAL_POSE) {
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sk->set_bone_global_pose_override(bone_idx, Transform3D(), 0.0, false);
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} else if (override_mode == OVERRIDE_MODES::MODE_LOCAL_POSE) {
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sk->set_bone_local_pose_override(bone_idx, Transform3D(), 0.0, false);
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} else if (override_mode == OVERRIDE_MODES::MODE_CUSTOM_POSE) {
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sk->set_bone_custom_pose(bone_idx, Transform3D());
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}
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}
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_transform_changed();
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}
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notify_property_list_changed();
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}
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bool BoneAttachment3D::get_override_pose() const {
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return override_pose;
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}
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void BoneAttachment3D::set_override_mode(int p_mode) {
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if (override_pose) {
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Skeleton3D *sk = _get_skeleton3d();
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if (sk) {
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if (override_mode == OVERRIDE_MODES::MODE_GLOBAL_POSE) {
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sk->set_bone_global_pose_override(bone_idx, Transform3D(), 0.0, false);
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} else if (override_mode == OVERRIDE_MODES::MODE_LOCAL_POSE) {
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sk->set_bone_local_pose_override(bone_idx, Transform3D(), 0.0, false);
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} else if (override_mode == OVERRIDE_MODES::MODE_CUSTOM_POSE) {
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sk->set_bone_custom_pose(bone_idx, Transform3D());
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}
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}
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override_mode = p_mode;
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_transform_changed();
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return;
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}
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override_mode = p_mode;
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}
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int BoneAttachment3D::get_override_mode() const {
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return override_mode;
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}
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void BoneAttachment3D::set_use_external_skeleton(bool p_use_external) {
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use_external_skeleton = p_use_external;
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if (use_external_skeleton) {
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_check_unbind();
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_update_external_skeleton_cache();
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_check_bind();
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_transform_changed();
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}
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notify_property_list_changed();
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}
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bool BoneAttachment3D::get_use_external_skeleton() const {
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return use_external_skeleton;
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}
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void BoneAttachment3D::set_external_skeleton(NodePath p_path) {
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external_skeleton_node = p_path;
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_update_external_skeleton_cache();
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notify_property_list_changed();
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}
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NodePath BoneAttachment3D::get_external_skeleton() const {
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return external_skeleton_node;
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}
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void BoneAttachment3D::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_ENTER_TREE: {
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if (use_external_skeleton) {
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_update_external_skeleton_cache();
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}
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_check_bind();
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} break;
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case NOTIFICATION_EXIT_TREE: {
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_check_unbind();
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} break;
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case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
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_transform_changed();
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} break;
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case NOTIFICATION_INTERNAL_PROCESS: {
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if (_override_dirty) {
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_override_dirty = false;
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}
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}
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}
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}
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void BoneAttachment3D::on_bone_pose_update(int p_bone_index) {
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if (bone_idx == p_bone_index) {
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Skeleton3D *sk = _get_skeleton3d();
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if (sk) {
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if (!override_pose) {
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if (use_external_skeleton) {
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set_global_transform(sk->global_pose_to_world_transform(sk->get_bone_global_pose(bone_idx)));
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} else {
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set_transform(sk->get_bone_global_pose(bone_idx));
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}
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} else {
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if (!_override_dirty) {
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_transform_changed();
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_override_dirty = true;
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}
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}
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}
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}
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}
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BoneAttachment3D::BoneAttachment3D() {
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}
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void BoneAttachment3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_bone_name", "bone_name"), &BoneAttachment3D::set_bone_name);
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ClassDB::bind_method(D_METHOD("get_bone_name"), &BoneAttachment3D::get_bone_name);
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ClassDB::bind_method(D_METHOD("set_bone_idx", "bone_idx"), &BoneAttachment3D::set_bone_idx);
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ClassDB::bind_method(D_METHOD("get_bone_idx"), &BoneAttachment3D::get_bone_idx);
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ClassDB::bind_method(D_METHOD("on_bone_pose_update", "bone_index"), &BoneAttachment3D::on_bone_pose_update);
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ClassDB::bind_method(D_METHOD("set_override_pose", "override_pose"), &BoneAttachment3D::set_override_pose);
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ClassDB::bind_method(D_METHOD("get_override_pose"), &BoneAttachment3D::get_override_pose);
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ClassDB::bind_method(D_METHOD("set_override_mode", "override_mode"), &BoneAttachment3D::set_override_mode);
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ClassDB::bind_method(D_METHOD("get_override_mode"), &BoneAttachment3D::get_override_mode);
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ClassDB::bind_method(D_METHOD("set_use_external_skeleton", "use_external_skeleton"), &BoneAttachment3D::set_use_external_skeleton);
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ClassDB::bind_method(D_METHOD("get_use_external_skeleton"), &BoneAttachment3D::get_use_external_skeleton);
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ClassDB::bind_method(D_METHOD("set_external_skeleton", "external_skeleton"), &BoneAttachment3D::set_external_skeleton);
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ClassDB::bind_method(D_METHOD("get_external_skeleton"), &BoneAttachment3D::get_external_skeleton);
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ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "bone_name"), "set_bone_name", "get_bone_name");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_idx"), "set_bone_idx", "get_bone_idx");
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}
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