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virtualx-engine/scene/3d/skeleton_3d.cpp
Juan Linietsky 98c655ec8d Refactor Node Processing 
* Node processing works on the concept of process groups.
* A node group can be inherited, run on main thread, or a sub-thread.
* Groups can be ordered.
* Process priority is now present for physics.

This is the first steps towards implementing https://github.com/godotengine/godot-proposals/issues/6424.
No threading or thread guards exist yet in most of the scene code other than Node. That will have to be added later.
2023-05-09 19:17:51 +02:00

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/**************************************************************************/
/* skeleton_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/**************************************************************************/
#include "skeleton_3d.h"
#include "core/object/message_queue.h"
#include "core/variant/type_info.h"
#include "scene/3d/physics_body_3d.h"
#include "scene/resources/surface_tool.h"
#include "scene/scene_string_names.h"
void SkinReference::_skin_changed() {
if (skeleton_node) {
skeleton_node->_make_dirty();
}
skeleton_version = 0;
}
void SkinReference::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_skeleton"), &SkinReference::get_skeleton);
ClassDB::bind_method(D_METHOD("get_skin"), &SkinReference::get_skin);
}
RID SkinReference::get_skeleton() const {
return skeleton;
}
Ref<Skin> SkinReference::get_skin() const {
return skin;
}
SkinReference::~SkinReference() {
ERR_FAIL_NULL(RenderingServer::get_singleton());
if (skeleton_node) {
skeleton_node->skin_bindings.erase(this);
}
RS::get_singleton()->free(skeleton);
}
///////////////////////////////////////
bool Skeleton3D::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
if (!path.begins_with("bones/")) {
return false;
}
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
if (which == bones.size() && what == "name") {
add_bone(p_value);
return true;
}
ERR_FAIL_INDEX_V(which, bones.size(), false);
if (what == "parent") {
set_bone_parent(which, p_value);
} else if (what == "rest") {
set_bone_rest(which, p_value);
} else if (what == "enabled") {
set_bone_enabled(which, p_value);
} else if (what == "position") {
set_bone_pose_position(which, p_value);
} else if (what == "rotation") {
set_bone_pose_rotation(which, p_value);
} else if (what == "scale") {
set_bone_pose_scale(which, p_value);
} else {
return false;
}
return true;
}
bool Skeleton3D::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
if (!path.begins_with("bones/")) {
return false;
}
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, bones.size(), false);
if (what == "name") {
r_ret = get_bone_name(which);
} else if (what == "parent") {
r_ret = get_bone_parent(which);
} else if (what == "rest") {
r_ret = get_bone_rest(which);
} else if (what == "enabled") {
r_ret = is_bone_enabled(which);
} else if (what == "position") {
r_ret = get_bone_pose_position(which);
} else if (what == "rotation") {
r_ret = get_bone_pose_rotation(which);
} else if (what == "scale") {
r_ret = get_bone_pose_scale(which);
} else {
return false;
}
return true;
}
void Skeleton3D::_get_property_list(List<PropertyInfo> *p_list) const {
for (int i = 0; i < bones.size(); i++) {
const String prep = vformat("%s/%d/", PNAME("bones"), i);
p_list->push_back(PropertyInfo(Variant::STRING, prep + PNAME("name"), PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
p_list->push_back(PropertyInfo(Variant::INT, prep + PNAME("parent"), PROPERTY_HINT_RANGE, "-1," + itos(bones.size() - 1) + ",1", PROPERTY_USAGE_NO_EDITOR));
p_list->push_back(PropertyInfo(Variant::TRANSFORM3D, prep + PNAME("rest"), PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
p_list->push_back(PropertyInfo(Variant::BOOL, prep + PNAME("enabled"), PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
p_list->push_back(PropertyInfo(Variant::VECTOR3, prep + PNAME("position"), PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
p_list->push_back(PropertyInfo(Variant::QUATERNION, prep + PNAME("rotation"), PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
p_list->push_back(PropertyInfo(Variant::VECTOR3, prep + PNAME("scale"), PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
}
for (PropertyInfo &E : *p_list) {
_validate_property(E);
}
}
void Skeleton3D::_validate_property(PropertyInfo &p_property) const {
PackedStringArray split = p_property.name.split("/");
if (split.size() == 3 && split[0] == "bones") {
if (split[2] == "rest") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (is_show_rest_only()) {
if (split[2] == "enabled") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (split[2] == "position") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (split[2] == "rotation") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (split[2] == "scale") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
} else if (!is_bone_enabled(split[1].to_int())) {
if (split[2] == "position") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (split[2] == "rotation") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (split[2] == "scale") {
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
}
}
}
void Skeleton3D::_update_process_order() {
if (!process_order_dirty) {
return;
}
Bone *bonesptr = bones.ptrw();
int len = bones.size();
parentless_bones.clear();
for (int i = 0; i < len; i++) {
bonesptr[i].child_bones.clear();
}
for (int i = 0; i < len; i++) {
if (bonesptr[i].parent >= len) {
// Validate this just in case.
ERR_PRINT("Bone " + itos(i) + " has invalid parent: " + itos(bonesptr[i].parent));
bonesptr[i].parent = -1;
}
if (bonesptr[i].parent != -1) {
int parent_bone_idx = bonesptr[i].parent;
// Check to see if this node is already added to the parent.
if (bonesptr[parent_bone_idx].child_bones.find(i) < 0) {
// Add the child node.
bonesptr[parent_bone_idx].child_bones.push_back(i);
} else {
ERR_PRINT("Skeleton3D parenthood graph is cyclic");
}
} else {
parentless_bones.push_back(i);
}
}
process_order_dirty = false;
}
void Skeleton3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
if (dirty) {
notification(NOTIFICATION_UPDATE_SKELETON);
}
} break;
case NOTIFICATION_UPDATE_SKELETON: {
RenderingServer *rs = RenderingServer::get_singleton();
Bone *bonesptr = bones.ptrw();
int len = bones.size();
dirty = false;
// Update bone transforms.
force_update_all_bone_transforms();
// Update skins.
for (SkinReference *E : skin_bindings) {
const Skin *skin = E->skin.operator->();
RID skeleton = E->skeleton;
uint32_t bind_count = skin->get_bind_count();
if (E->bind_count != bind_count) {
RS::get_singleton()->skeleton_allocate_data(skeleton, bind_count);
E->bind_count = bind_count;
E->skin_bone_indices.resize(bind_count);
E->skin_bone_indices_ptrs = E->skin_bone_indices.ptrw();
}
if (E->skeleton_version != version) {
for (uint32_t i = 0; i < bind_count; i++) {
StringName bind_name = skin->get_bind_name(i);
if (bind_name != StringName()) {
// Bind name used, use this.
bool found = false;
for (int j = 0; j < len; j++) {
if (bonesptr[j].name == bind_name) {
E->skin_bone_indices_ptrs[i] = j;
found = true;
break;
}
}
if (!found) {
ERR_PRINT("Skin bind #" + itos(i) + " contains named bind '" + String(bind_name) + "' but Skeleton3D has no bone by that name.");
E->skin_bone_indices_ptrs[i] = 0;
}
} else if (skin->get_bind_bone(i) >= 0) {
int bind_index = skin->get_bind_bone(i);
if (bind_index >= len) {
ERR_PRINT("Skin bind #" + itos(i) + " contains bone index bind: " + itos(bind_index) + " , which is greater than the skeleton bone count: " + itos(len) + ".");
E->skin_bone_indices_ptrs[i] = 0;
} else {
E->skin_bone_indices_ptrs[i] = bind_index;
}
} else {
ERR_PRINT("Skin bind #" + itos(i) + " does not contain a name nor a bone index.");
E->skin_bone_indices_ptrs[i] = 0;
}
}
E->skeleton_version = version;
}
for (uint32_t i = 0; i < bind_count; i++) {
uint32_t bone_index = E->skin_bone_indices_ptrs[i];
ERR_CONTINUE(bone_index >= (uint32_t)len);
rs->skeleton_bone_set_transform(skeleton, i, bonesptr[bone_index].pose_global * skin->get_bind_pose(i));
}
}
emit_signal(SceneStringNames::get_singleton()->pose_updated);
} break;
#ifndef _3D_DISABLED
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
// This is active only if the skeleton animates the physical bones
// and the state of the bone is not active.
if (animate_physical_bones) {
for (int i = 0; i < bones.size(); i += 1) {
if (bones[i].physical_bone) {
if (bones[i].physical_bone->is_simulating_physics() == false) {
bones[i].physical_bone->reset_to_rest_position();
}
}
}
}
} break;
case NOTIFICATION_READY: {
if (Engine::get_singleton()->is_editor_hint()) {
set_physics_process_internal(true);
}
} break;
#endif // _3D_DISABLED
}
}
void Skeleton3D::clear_bones_global_pose_override() {
for (int i = 0; i < bones.size(); i += 1) {
bones.write[i].global_pose_override_amount = 0;
bones.write[i].global_pose_override_reset = true;
}
_make_dirty();
}
void Skeleton3D::set_bone_global_pose_override(int p_bone, const Transform3D &p_pose, real_t p_amount, bool p_persistent) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].global_pose_override_amount = p_amount;
bones.write[p_bone].global_pose_override = p_pose;
bones.write[p_bone].global_pose_override_reset = !p_persistent;
_make_dirty();
}
Transform3D Skeleton3D::get_bone_global_pose_override(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].global_pose_override;
}
Transform3D Skeleton3D::get_bone_global_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
if (dirty) {
const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
}
return bones[p_bone].pose_global;
}
Transform3D Skeleton3D::get_bone_global_pose_no_override(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
if (dirty) {
const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
}
return bones[p_bone].pose_global_no_override;
}
void Skeleton3D::set_motion_scale(float p_motion_scale) {
if (p_motion_scale <= 0) {
motion_scale = 1;
ERR_FAIL_MSG("Motion scale must be larger than 0.");
}
motion_scale = p_motion_scale;
}
float Skeleton3D::get_motion_scale() const {
ERR_FAIL_COND_V(motion_scale <= 0, 1);
return motion_scale;
}
// Skeleton creation api
uint64_t Skeleton3D::get_version() const {
return version;
}
void Skeleton3D::add_bone(const String &p_name) {
ERR_FAIL_COND(p_name.is_empty() || p_name.contains(":") || p_name.contains("/"));
for (int i = 0; i < bones.size(); i++) {
ERR_FAIL_COND(bones[i].name == p_name);
}
Bone b;
b.name = p_name;
bones.push_back(b);
process_order_dirty = true;
version++;
rest_dirty = true;
_make_dirty();
update_gizmos();
}
int Skeleton3D::find_bone(const String &p_name) const {
for (int i = 0; i < bones.size(); i++) {
if (bones[i].name == p_name) {
return i;
}
}
return -1;
}
String Skeleton3D::get_bone_name(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, "");
return bones[p_bone].name;
}
void Skeleton3D::set_bone_name(int p_bone, const String &p_name) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
for (int i = 0; i < bone_size; i++) {
if (i != p_bone) {
ERR_FAIL_COND_MSG(bones[i].name == p_name, "Skeleton3D: '" + get_name() + "', bone name: '" + p_name + "' is already exist.");
}
}
bones.write[p_bone].name = p_name;
version++;
}
bool Skeleton3D::is_bone_parent_of(int p_bone, int p_parent_bone_id) const {
int parent_of_bone = get_bone_parent(p_bone);
if (-1 == parent_of_bone) {
return false;
}
if (parent_of_bone == p_parent_bone_id) {
return true;
}
return is_bone_parent_of(parent_of_bone, p_parent_bone_id);
}
int Skeleton3D::get_bone_count() const {
return bones.size();
}
void Skeleton3D::set_bone_parent(int p_bone, int p_parent) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
ERR_FAIL_COND(p_parent != -1 && (p_parent < 0));
ERR_FAIL_COND(p_bone == p_parent);
bones.write[p_bone].parent = p_parent;
process_order_dirty = true;
rest_dirty = true;
_make_dirty();
}
void Skeleton3D::unparent_bone_and_rest(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
_update_process_order();
int parent = bones[p_bone].parent;
while (parent >= 0) {
bones.write[p_bone].rest = bones[parent].rest * bones[p_bone].rest;
parent = bones[parent].parent;
}
bones.write[p_bone].parent = -1;
process_order_dirty = true;
rest_dirty = true;
_make_dirty();
}
int Skeleton3D::get_bone_parent(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, -1);
if (process_order_dirty) {
const_cast<Skeleton3D *>(this)->_update_process_order();
}
return bones[p_bone].parent;
}
Vector<int> Skeleton3D::get_bone_children(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Vector<int>());
if (process_order_dirty) {
const_cast<Skeleton3D *>(this)->_update_process_order();
}
return bones[p_bone].child_bones;
}
Vector<int> Skeleton3D::get_parentless_bones() const {
if (process_order_dirty) {
const_cast<Skeleton3D *>(this)->_update_process_order();
}
return parentless_bones;
}
void Skeleton3D::set_bone_rest(int p_bone, const Transform3D &p_rest) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].rest = p_rest;
rest_dirty = true;
_make_dirty();
}
Transform3D Skeleton3D::get_bone_rest(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].rest;
}
Transform3D Skeleton3D::get_bone_global_rest(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
if (rest_dirty) {
const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
}
return bones[p_bone].global_rest;
}
void Skeleton3D::set_bone_enabled(int p_bone, bool p_enabled) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].enabled = p_enabled;
emit_signal(SceneStringNames::get_singleton()->bone_enabled_changed, p_bone);
_make_dirty();
}
bool Skeleton3D::is_bone_enabled(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, false);
return bones[p_bone].enabled;
}
void Skeleton3D::set_show_rest_only(bool p_enabled) {
show_rest_only = p_enabled;
emit_signal(SceneStringNames::get_singleton()->show_rest_only_changed);
_make_dirty();
}
bool Skeleton3D::is_show_rest_only() const {
return show_rest_only;
}
void Skeleton3D::clear_bones() {
bones.clear();
process_order_dirty = true;
version++;
_make_dirty();
}
// Posing api
void Skeleton3D::set_bone_pose_position(int p_bone, const Vector3 &p_position) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].pose_position = p_position;
bones.write[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
}
}
void Skeleton3D::set_bone_pose_rotation(int p_bone, const Quaternion &p_rotation) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].pose_rotation = p_rotation;
bones.write[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
}
}
void Skeleton3D::set_bone_pose_scale(int p_bone, const Vector3 &p_scale) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].pose_scale = p_scale;
bones.write[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
}
}
Vector3 Skeleton3D::get_bone_pose_position(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Vector3());
return bones[p_bone].pose_position;
}
Quaternion Skeleton3D::get_bone_pose_rotation(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Quaternion());
return bones[p_bone].pose_rotation;
}
Vector3 Skeleton3D::get_bone_pose_scale(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Vector3());
return bones[p_bone].pose_scale;
}
void Skeleton3D::reset_bone_pose(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
set_bone_pose_position(p_bone, bones[p_bone].rest.origin);
set_bone_pose_rotation(p_bone, bones[p_bone].rest.basis.get_rotation_quaternion());
set_bone_pose_scale(p_bone, bones[p_bone].rest.basis.get_scale());
}
void Skeleton3D::reset_bone_poses() {
for (int i = 0; i < bones.size(); i++) {
reset_bone_pose(i);
}
}
Transform3D Skeleton3D::get_bone_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
((Skeleton3D *)this)->bones.write[p_bone].update_pose_cache();
return bones[p_bone].pose_cache;
}
void Skeleton3D::_make_dirty() {
if (dirty) {
return;
}
if (is_inside_tree()) {
notify_deferred_thread_group(NOTIFICATION_UPDATE_SKELETON);
}
dirty = true;
}
void Skeleton3D::localize_rests() {
Vector<int> bones_to_process = get_parentless_bones();
while (bones_to_process.size() > 0) {
int current_bone_idx = bones_to_process[0];
bones_to_process.erase(current_bone_idx);
if (bones[current_bone_idx].parent >= 0) {
set_bone_rest(current_bone_idx, bones[bones[current_bone_idx].parent].rest.affine_inverse() * bones[current_bone_idx].rest);
}
// Add the bone's children to the list of bones to be processed.
int child_bone_size = bones[current_bone_idx].child_bones.size();
for (int i = 0; i < child_bone_size; i++) {
bones_to_process.push_back(bones[current_bone_idx].child_bones[i]);
}
}
}
void Skeleton3D::set_animate_physical_bones(bool p_enabled) {
animate_physical_bones = p_enabled;
if (Engine::get_singleton()->is_editor_hint() == false) {
bool sim = false;
for (int i = 0; i < bones.size(); i += 1) {
if (bones[i].physical_bone) {
bones[i].physical_bone->reset_physics_simulation_state();
if (bones[i].physical_bone->is_simulating_physics()) {
sim = true;
}
}
}
set_physics_process_internal(sim == false && p_enabled);
}
}
bool Skeleton3D::get_animate_physical_bones() const {
return animate_physical_bones;
}
void Skeleton3D::bind_physical_bone_to_bone(int p_bone, PhysicalBone3D *p_physical_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
ERR_FAIL_COND(bones[p_bone].physical_bone);
ERR_FAIL_COND(!p_physical_bone);
bones.write[p_bone].physical_bone = p_physical_bone;
_rebuild_physical_bones_cache();
}
void Skeleton3D::unbind_physical_bone_from_bone(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].physical_bone = nullptr;
_rebuild_physical_bones_cache();
}
PhysicalBone3D *Skeleton3D::get_physical_bone(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
return bones[p_bone].physical_bone;
}
PhysicalBone3D *Skeleton3D::get_physical_bone_parent(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
if (bones[p_bone].cache_parent_physical_bone) {
return bones[p_bone].cache_parent_physical_bone;
}
return _get_physical_bone_parent(p_bone);
}
PhysicalBone3D *Skeleton3D::_get_physical_bone_parent(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
const int parent_bone = bones[p_bone].parent;
if (0 > parent_bone) {
return nullptr;
}
PhysicalBone3D *pb = bones[parent_bone].physical_bone;
if (pb) {
return pb;
} else {
return get_physical_bone_parent(parent_bone);
}
}
void Skeleton3D::_rebuild_physical_bones_cache() {
const int b_size = bones.size();
for (int i = 0; i < b_size; ++i) {
PhysicalBone3D *parent_pb = _get_physical_bone_parent(i);
if (parent_pb != bones[i].cache_parent_physical_bone) {
bones.write[i].cache_parent_physical_bone = parent_pb;
if (bones[i].physical_bone) {
bones[i].physical_bone->_on_bone_parent_changed();
}
}
}
}
void _pb_stop_simulation(Node *p_node) {
for (int i = p_node->get_child_count() - 1; 0 <= i; --i) {
_pb_stop_simulation(p_node->get_child(i));
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
pb->set_simulate_physics(false);
}
}
void Skeleton3D::physical_bones_stop_simulation() {
_pb_stop_simulation(this);
if (Engine::get_singleton()->is_editor_hint() == false && animate_physical_bones) {
set_physics_process_internal(true);
}
}
void _pb_start_simulation(const Skeleton3D *p_skeleton, Node *p_node, const Vector<int> &p_sim_bones) {
for (int i = p_node->get_child_count() - 1; 0 <= i; --i) {
_pb_start_simulation(p_skeleton, p_node->get_child(i), p_sim_bones);
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
if (p_sim_bones.is_empty()) { // If no bones is specified, activate ragdoll on full body.
pb->set_simulate_physics(true);
} else {
for (int i = p_sim_bones.size() - 1; 0 <= i; --i) {
if (p_sim_bones[i] == pb->get_bone_id() || p_skeleton->is_bone_parent_of(pb->get_bone_id(), p_sim_bones[i])) {
pb->set_simulate_physics(true);
break;
}
}
}
}
}
void Skeleton3D::physical_bones_start_simulation_on(const TypedArray<StringName> &p_bones) {
set_physics_process_internal(false);
Vector<int> sim_bones;
if (p_bones.size() > 0) {
sim_bones.resize(p_bones.size());
int c = 0;
for (int i = sim_bones.size() - 1; 0 <= i; --i) {
int bone_id = find_bone(p_bones[i]);
if (bone_id != -1) {
sim_bones.write[c++] = bone_id;
}
}
sim_bones.resize(c);
}
_pb_start_simulation(this, this, sim_bones);
}
void _physical_bones_add_remove_collision_exception(bool p_add, Node *p_node, RID p_exception) {
for (int i = p_node->get_child_count() - 1; 0 <= i; --i) {
_physical_bones_add_remove_collision_exception(p_add, p_node->get_child(i), p_exception);
}
CollisionObject3D *co = Object::cast_to<CollisionObject3D>(p_node);
if (co) {
if (p_add) {
PhysicsServer3D::get_singleton()->body_add_collision_exception(co->get_rid(), p_exception);
} else {
PhysicsServer3D::get_singleton()->body_remove_collision_exception(co->get_rid(), p_exception);
}
}
}
void Skeleton3D::physical_bones_add_collision_exception(RID p_exception) {
_physical_bones_add_remove_collision_exception(true, this, p_exception);
}
void Skeleton3D::physical_bones_remove_collision_exception(RID p_exception) {
_physical_bones_add_remove_collision_exception(false, this, p_exception);
}
void Skeleton3D::_skin_changed() {
_make_dirty();
}
Ref<Skin> Skeleton3D::create_skin_from_rest_transforms() {
Ref<Skin> skin;
skin.instantiate();
skin->set_bind_count(bones.size());
// Pose changed, rebuild cache of inverses.
const Bone *bonesptr = bones.ptr();
int len = bones.size();
// Calculate global rests and invert them.
LocalVector<int> bones_to_process;
bones_to_process = get_parentless_bones();
while (bones_to_process.size() > 0) {
int current_bone_idx = bones_to_process[0];
const Bone &b = bonesptr[current_bone_idx];
bones_to_process.erase(current_bone_idx);
LocalVector<int> child_bones_vector;
child_bones_vector = get_bone_children(current_bone_idx);
int child_bones_size = child_bones_vector.size();
if (b.parent < 0) {
skin->set_bind_pose(current_bone_idx, b.rest);
}
for (int i = 0; i < child_bones_size; i++) {
int child_bone_idx = child_bones_vector[i];
const Bone &cb = bonesptr[child_bone_idx];
skin->set_bind_pose(child_bone_idx, skin->get_bind_pose(current_bone_idx) * cb.rest);
// Add the bone's children to the list of bones to be processed.
bones_to_process.push_back(child_bones_vector[i]);
}
}
for (int i = 0; i < len; i++) {
// The inverse is what is actually required.
skin->set_bind_bone(i, i);
skin->set_bind_pose(i, skin->get_bind_pose(i).affine_inverse());
}
return skin;
}
Ref<SkinReference> Skeleton3D::register_skin(const Ref<Skin> &p_skin) {
ERR_FAIL_COND_V(p_skin.is_null(), Ref<SkinReference>());
for (const SkinReference *E : skin_bindings) {
if (E->skin == p_skin) {
return Ref<SkinReference>(E);
}
}
Ref<SkinReference> skin_ref;
skin_ref.instantiate();
skin_ref->skeleton_node = this;
skin_ref->bind_count = 0;
skin_ref->skeleton = RenderingServer::get_singleton()->skeleton_create();
skin_ref->skeleton_node = this;
skin_ref->skin = p_skin;
skin_bindings.insert(skin_ref.operator->());
skin_ref->skin->connect("changed", callable_mp(skin_ref.operator->(), &SkinReference::_skin_changed));
_make_dirty(); // Skin needs to be updated, so update skeleton.
return skin_ref;
}
void Skeleton3D::force_update_all_dirty_bones() {
if (dirty) {
const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
}
}
void Skeleton3D::force_update_all_bone_transforms() {
_update_process_order();
for (int i = 0; i < parentless_bones.size(); i++) {
force_update_bone_children_transforms(parentless_bones[i]);
}
}
void Skeleton3D::force_update_bone_children_transforms(int p_bone_idx) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone_idx, bone_size);
Bone *bonesptr = bones.ptrw();
List<int> bones_to_process = List<int>();
bones_to_process.push_back(p_bone_idx);
while (bones_to_process.size() > 0) {
int current_bone_idx = bones_to_process[0];
bones_to_process.erase(current_bone_idx);
Bone &b = bonesptr[current_bone_idx];
bool bone_enabled = b.enabled && !show_rest_only;
if (bone_enabled) {
b.update_pose_cache();
Transform3D pose = b.pose_cache;
if (b.parent >= 0) {
b.pose_global = bonesptr[b.parent].pose_global * pose;
b.pose_global_no_override = b.pose_global;
} else {
b.pose_global = pose;
b.pose_global_no_override = b.pose_global;
}
} else {
if (b.parent >= 0) {
b.pose_global = bonesptr[b.parent].pose_global * b.rest;
b.pose_global_no_override = b.pose_global;
} else {
b.pose_global = b.rest;
b.pose_global_no_override = b.pose_global;
}
}
if (rest_dirty) {
b.global_rest = b.parent >= 0 ? bonesptr[b.parent].global_rest * b.rest : b.rest;
}
if (b.global_pose_override_amount >= CMP_EPSILON) {
b.pose_global = b.pose_global.interpolate_with(b.global_pose_override, b.global_pose_override_amount);
}
if (b.global_pose_override_reset) {
b.global_pose_override_amount = 0.0;
}
// Add the bone's children to the list of bones to be processed.
int child_bone_size = b.child_bones.size();
for (int i = 0; i < child_bone_size; i++) {
bones_to_process.push_back(b.child_bones[i]);
}
emit_signal(SceneStringNames::get_singleton()->bone_pose_changed, current_bone_idx);
}
rest_dirty = false;
}
void Skeleton3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("add_bone", "name"), &Skeleton3D::add_bone);
ClassDB::bind_method(D_METHOD("find_bone", "name"), &Skeleton3D::find_bone);
ClassDB::bind_method(D_METHOD("get_bone_name", "bone_idx"), &Skeleton3D::get_bone_name);
ClassDB::bind_method(D_METHOD("set_bone_name", "bone_idx", "name"), &Skeleton3D::set_bone_name);
ClassDB::bind_method(D_METHOD("get_bone_parent", "bone_idx"), &Skeleton3D::get_bone_parent);
ClassDB::bind_method(D_METHOD("set_bone_parent", "bone_idx", "parent_idx"), &Skeleton3D::set_bone_parent);
ClassDB::bind_method(D_METHOD("get_bone_count"), &Skeleton3D::get_bone_count);
ClassDB::bind_method(D_METHOD("get_version"), &Skeleton3D::get_version);
ClassDB::bind_method(D_METHOD("unparent_bone_and_rest", "bone_idx"), &Skeleton3D::unparent_bone_and_rest);
ClassDB::bind_method(D_METHOD("get_bone_children", "bone_idx"), &Skeleton3D::get_bone_children);
ClassDB::bind_method(D_METHOD("get_parentless_bones"), &Skeleton3D::get_parentless_bones);
ClassDB::bind_method(D_METHOD("get_bone_rest", "bone_idx"), &Skeleton3D::get_bone_rest);
ClassDB::bind_method(D_METHOD("set_bone_rest", "bone_idx", "rest"), &Skeleton3D::set_bone_rest);
ClassDB::bind_method(D_METHOD("get_bone_global_rest", "bone_idx"), &Skeleton3D::get_bone_global_rest);
ClassDB::bind_method(D_METHOD("create_skin_from_rest_transforms"), &Skeleton3D::create_skin_from_rest_transforms);
ClassDB::bind_method(D_METHOD("register_skin", "skin"), &Skeleton3D::register_skin);
ClassDB::bind_method(D_METHOD("localize_rests"), &Skeleton3D::localize_rests);
ClassDB::bind_method(D_METHOD("clear_bones"), &Skeleton3D::clear_bones);
ClassDB::bind_method(D_METHOD("get_bone_pose", "bone_idx"), &Skeleton3D::get_bone_pose);
ClassDB::bind_method(D_METHOD("set_bone_pose_position", "bone_idx", "position"), &Skeleton3D::set_bone_pose_position);
ClassDB::bind_method(D_METHOD("set_bone_pose_rotation", "bone_idx", "rotation"), &Skeleton3D::set_bone_pose_rotation);
ClassDB::bind_method(D_METHOD("set_bone_pose_scale", "bone_idx", "scale"), &Skeleton3D::set_bone_pose_scale);
ClassDB::bind_method(D_METHOD("get_bone_pose_position", "bone_idx"), &Skeleton3D::get_bone_pose_position);
ClassDB::bind_method(D_METHOD("get_bone_pose_rotation", "bone_idx"), &Skeleton3D::get_bone_pose_rotation);
ClassDB::bind_method(D_METHOD("get_bone_pose_scale", "bone_idx"), &Skeleton3D::get_bone_pose_scale);
ClassDB::bind_method(D_METHOD("reset_bone_pose", "bone_idx"), &Skeleton3D::reset_bone_pose);
ClassDB::bind_method(D_METHOD("reset_bone_poses"), &Skeleton3D::reset_bone_poses);
ClassDB::bind_method(D_METHOD("is_bone_enabled", "bone_idx"), &Skeleton3D::is_bone_enabled);
ClassDB::bind_method(D_METHOD("set_bone_enabled", "bone_idx", "enabled"), &Skeleton3D::set_bone_enabled, DEFVAL(true));
ClassDB::bind_method(D_METHOD("clear_bones_global_pose_override"), &Skeleton3D::clear_bones_global_pose_override);
ClassDB::bind_method(D_METHOD("set_bone_global_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton3D::set_bone_global_pose_override, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_bone_global_pose_override", "bone_idx"), &Skeleton3D::get_bone_global_pose_override);
ClassDB::bind_method(D_METHOD("get_bone_global_pose", "bone_idx"), &Skeleton3D::get_bone_global_pose);
ClassDB::bind_method(D_METHOD("get_bone_global_pose_no_override", "bone_idx"), &Skeleton3D::get_bone_global_pose_no_override);
ClassDB::bind_method(D_METHOD("force_update_all_bone_transforms"), &Skeleton3D::force_update_all_bone_transforms);
ClassDB::bind_method(D_METHOD("force_update_bone_child_transform", "bone_idx"), &Skeleton3D::force_update_bone_children_transforms);
ClassDB::bind_method(D_METHOD("set_motion_scale", "motion_scale"), &Skeleton3D::set_motion_scale);
ClassDB::bind_method(D_METHOD("get_motion_scale"), &Skeleton3D::get_motion_scale);
ClassDB::bind_method(D_METHOD("set_show_rest_only", "enabled"), &Skeleton3D::set_show_rest_only);
ClassDB::bind_method(D_METHOD("is_show_rest_only"), &Skeleton3D::is_show_rest_only);
ClassDB::bind_method(D_METHOD("set_animate_physical_bones", "enabled"), &Skeleton3D::set_animate_physical_bones);
ClassDB::bind_method(D_METHOD("get_animate_physical_bones"), &Skeleton3D::get_animate_physical_bones);
ClassDB::bind_method(D_METHOD("physical_bones_stop_simulation"), &Skeleton3D::physical_bones_stop_simulation);
ClassDB::bind_method(D_METHOD("physical_bones_start_simulation", "bones"), &Skeleton3D::physical_bones_start_simulation_on, DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("physical_bones_add_collision_exception", "exception"), &Skeleton3D::physical_bones_add_collision_exception);
ClassDB::bind_method(D_METHOD("physical_bones_remove_collision_exception", "exception"), &Skeleton3D::physical_bones_remove_collision_exception);
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "motion_scale", PROPERTY_HINT_RANGE, "0.001,10,0.001,or_greater"), "set_motion_scale", "get_motion_scale");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "show_rest_only"), "set_show_rest_only", "is_show_rest_only");
#ifndef _3D_DISABLED
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "animate_physical_bones"), "set_animate_physical_bones", "get_animate_physical_bones");
#endif // _3D_DISABLED
ADD_SIGNAL(MethodInfo("pose_updated"));
ADD_SIGNAL(MethodInfo("bone_pose_changed", PropertyInfo(Variant::INT, "bone_idx")));
ADD_SIGNAL(MethodInfo("bone_enabled_changed", PropertyInfo(Variant::INT, "bone_idx")));
ADD_SIGNAL(MethodInfo("show_rest_only_changed"));
BIND_CONSTANT(NOTIFICATION_UPDATE_SKELETON);
}
Skeleton3D::Skeleton3D() {
}
Skeleton3D::~Skeleton3D() {
// Some skins may remain bound.
for (SkinReference *E : skin_bindings) {
E->skeleton_node = nullptr;
}
}
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