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
265 lines
11 KiB
C++
265 lines
11 KiB
C++
/*************************************************************************/
|
|
/* skeleton_modification_3d_lookat.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. */
|
|
/*************************************************************************/
|
|
|
|
#include "scene/resources/skeleton_modification_3d_lookat.h"
|
|
#include "scene/3d/skeleton_3d.h"
|
|
#include "scene/resources/skeleton_modification_3d.h"
|
|
|
|
bool SkeletonModification3DLookAt::_set(const StringName &p_path, const Variant &p_value) {
|
|
if (p_path == "lock_rotation_to_plane") {
|
|
set_lock_rotation_to_plane(p_value);
|
|
} else if (p_path == "lock_rotation_plane") {
|
|
set_lock_rotation_plane(p_value);
|
|
} else if (p_path == "additional_rotation") {
|
|
Vector3 tmp = p_value;
|
|
tmp.x = Math::deg2rad(tmp.x);
|
|
tmp.y = Math::deg2rad(tmp.y);
|
|
tmp.z = Math::deg2rad(tmp.z);
|
|
set_additional_rotation(tmp);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool SkeletonModification3DLookAt::_get(const StringName &p_path, Variant &r_ret) const {
|
|
if (p_path == "lock_rotation_to_plane") {
|
|
r_ret = get_lock_rotation_to_plane();
|
|
} else if (p_path == "lock_rotation_plane") {
|
|
r_ret = get_lock_rotation_plane();
|
|
} else if (p_path == "additional_rotation") {
|
|
Vector3 tmp = get_additional_rotation();
|
|
tmp.x = Math::rad2deg(tmp.x);
|
|
tmp.y = Math::rad2deg(tmp.y);
|
|
tmp.z = Math::rad2deg(tmp.z);
|
|
r_ret = tmp;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::_get_property_list(List<PropertyInfo> *p_list) const {
|
|
p_list->push_back(PropertyInfo(Variant::BOOL, "lock_rotation_to_plane", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
|
|
if (lock_rotation_to_plane) {
|
|
p_list->push_back(PropertyInfo(Variant::INT, "lock_rotation_plane", PROPERTY_HINT_ENUM, "X plane, Y plane, Z plane", PROPERTY_USAGE_DEFAULT));
|
|
}
|
|
p_list->push_back(PropertyInfo(Variant::VECTOR3, "additional_rotation", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::_execute(real_t p_delta) {
|
|
ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr,
|
|
"Modification is not setup and therefore cannot execute!");
|
|
if (!enabled) {
|
|
return;
|
|
}
|
|
|
|
if (target_node_cache.is_null()) {
|
|
_print_execution_error(true, "Target cache is out of date. Attempting to update...");
|
|
update_cache();
|
|
return;
|
|
}
|
|
|
|
if (bone_idx <= -2) {
|
|
bone_idx = stack->skeleton->find_bone(bone_name);
|
|
}
|
|
|
|
Node3D *target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache));
|
|
if (_print_execution_error(!target || !target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) {
|
|
return;
|
|
}
|
|
if (_print_execution_error(bone_idx <= -1, "Bone index is invalid. Cannot execute modification!")) {
|
|
return;
|
|
}
|
|
|
|
Transform3D new_bone_trans = stack->skeleton->get_bone_local_pose_override(bone_idx);
|
|
Vector3 target_pos = stack->skeleton->global_pose_to_local_pose(bone_idx, stack->skeleton->world_transform_to_global_pose(target->get_global_transform())).origin;
|
|
|
|
// Lock the rotation to a plane relative to the bone by changing the target position
|
|
if (lock_rotation_to_plane) {
|
|
if (lock_rotation_plane == ROTATION_PLANE::ROTATION_PLANE_X) {
|
|
target_pos.x = new_bone_trans.origin.x;
|
|
} else if (lock_rotation_plane == ROTATION_PLANE::ROTATION_PLANE_Y) {
|
|
target_pos.y = new_bone_trans.origin.y;
|
|
} else if (lock_rotation_plane == ROTATION_PLANE::ROTATION_PLANE_Z) {
|
|
target_pos.z = new_bone_trans.origin.z;
|
|
}
|
|
}
|
|
|
|
// Look at the target!
|
|
new_bone_trans = new_bone_trans.looking_at(target_pos, Vector3(0, 1, 0));
|
|
// Convert from Z-forward to whatever direction the bone faces.
|
|
stack->skeleton->update_bone_rest_forward_vector(bone_idx);
|
|
new_bone_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(bone_idx, new_bone_trans.basis);
|
|
|
|
// Apply additional rotation
|
|
new_bone_trans.basis.rotate_local(Vector3(1, 0, 0), additional_rotation.x);
|
|
new_bone_trans.basis.rotate_local(Vector3(0, 1, 0), additional_rotation.y);
|
|
new_bone_trans.basis.rotate_local(Vector3(0, 0, 1), additional_rotation.z);
|
|
|
|
stack->skeleton->set_bone_local_pose_override(bone_idx, new_bone_trans, stack->strength, true);
|
|
stack->skeleton->force_update_bone_children_transforms(bone_idx);
|
|
|
|
// If we completed it successfully, then we can set execution_error_found to false
|
|
execution_error_found = false;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::_setup_modification(SkeletonModificationStack3D *p_stack) {
|
|
stack = p_stack;
|
|
|
|
if (stack != nullptr) {
|
|
is_setup = true;
|
|
execution_error_found = false;
|
|
update_cache();
|
|
}
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::set_bone_name(String p_name) {
|
|
bone_name = p_name;
|
|
if (stack) {
|
|
if (stack->skeleton) {
|
|
bone_idx = stack->skeleton->find_bone(bone_name);
|
|
}
|
|
}
|
|
execution_error_found = false;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
String SkeletonModification3DLookAt::get_bone_name() const {
|
|
return bone_name;
|
|
}
|
|
|
|
int SkeletonModification3DLookAt::get_bone_index() const {
|
|
return bone_idx;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::set_bone_index(int p_bone_idx) {
|
|
ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
|
|
bone_idx = p_bone_idx;
|
|
|
|
if (stack) {
|
|
if (stack->skeleton) {
|
|
bone_name = stack->skeleton->get_bone_name(p_bone_idx);
|
|
}
|
|
}
|
|
execution_error_found = false;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::update_cache() {
|
|
if (!is_setup || !stack) {
|
|
_print_execution_error(true, "Cannot update target cache: modification is not properly setup!");
|
|
return;
|
|
}
|
|
|
|
target_node_cache = ObjectID();
|
|
if (stack->skeleton) {
|
|
if (stack->skeleton->is_inside_tree()) {
|
|
if (stack->skeleton->has_node(target_node)) {
|
|
Node *node = stack->skeleton->get_node(target_node);
|
|
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
|
|
"Cannot update target cache: Node is this modification's skeleton or cannot be found!");
|
|
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
|
|
"Cannot update target cache: Node is not in the scene tree!");
|
|
target_node_cache = node->get_instance_id();
|
|
|
|
execution_error_found = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::set_target_node(const NodePath &p_target_node) {
|
|
target_node = p_target_node;
|
|
update_cache();
|
|
}
|
|
|
|
NodePath SkeletonModification3DLookAt::get_target_node() const {
|
|
return target_node;
|
|
}
|
|
|
|
Vector3 SkeletonModification3DLookAt::get_additional_rotation() const {
|
|
return additional_rotation;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::set_additional_rotation(Vector3 p_offset) {
|
|
additional_rotation = p_offset;
|
|
}
|
|
|
|
bool SkeletonModification3DLookAt::get_lock_rotation_to_plane() const {
|
|
return lock_rotation_plane;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::set_lock_rotation_to_plane(bool p_lock_rotation) {
|
|
lock_rotation_to_plane = p_lock_rotation;
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
int SkeletonModification3DLookAt::get_lock_rotation_plane() const {
|
|
return lock_rotation_plane;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::set_lock_rotation_plane(int p_plane) {
|
|
lock_rotation_plane = p_plane;
|
|
}
|
|
|
|
void SkeletonModification3DLookAt::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("set_bone_name", "name"), &SkeletonModification3DLookAt::set_bone_name);
|
|
ClassDB::bind_method(D_METHOD("get_bone_name"), &SkeletonModification3DLookAt::get_bone_name);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_bone_index", "bone_idx"), &SkeletonModification3DLookAt::set_bone_index);
|
|
ClassDB::bind_method(D_METHOD("get_bone_index"), &SkeletonModification3DLookAt::get_bone_index);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DLookAt::set_target_node);
|
|
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DLookAt::get_target_node);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_additional_rotation", "additional_rotation"), &SkeletonModification3DLookAt::set_additional_rotation);
|
|
ClassDB::bind_method(D_METHOD("get_additional_rotation"), &SkeletonModification3DLookAt::get_additional_rotation);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_lock_rotation_to_plane", "lock_to_plane"), &SkeletonModification3DLookAt::set_lock_rotation_to_plane);
|
|
ClassDB::bind_method(D_METHOD("get_lock_rotation_to_plane"), &SkeletonModification3DLookAt::get_lock_rotation_to_plane);
|
|
ClassDB::bind_method(D_METHOD("set_lock_rotation_plane", "plane"), &SkeletonModification3DLookAt::set_lock_rotation_plane);
|
|
ClassDB::bind_method(D_METHOD("get_lock_rotation_plane"), &SkeletonModification3DLookAt::get_lock_rotation_plane);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "bone_name"), "set_bone_name", "get_bone_name");
|
|
ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_index"), "set_bone_index", "get_bone_index");
|
|
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "set_target_node", "get_target_node");
|
|
}
|
|
|
|
SkeletonModification3DLookAt::SkeletonModification3DLookAt() {
|
|
stack = nullptr;
|
|
is_setup = false;
|
|
bone_name = "";
|
|
bone_idx = -2;
|
|
additional_rotation = Vector3();
|
|
lock_rotation_to_plane = false;
|
|
enabled = true;
|
|
}
|
|
|
|
SkeletonModification3DLookAt::~SkeletonModification3DLookAt() {
|
|
}
|