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
138 lines
7.4 KiB
XML
138 lines
7.4 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<class name="SkeletonModification3DCCDIK" inherits="SkeletonModification3D" version="4.0">
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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.
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</brief_description>
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<description>
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This [SkeletonModification3D] uses an algorithm called [b]C[/b]yclic [b]C[/b]oordinate [b]D[/b]escent [b]I[/b]nverse [b]K[/b]inematics, or CCDIK, to maniuplate a chain of bones in a Skeleton 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_bone_index" qualifiers="const">
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<return type="int" />
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<argument index="0" name="joint_idx" type="int" />
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<description>
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Returns the bone index of the bone assigned to the CCDIK joint at [code]joint_idx[/code].
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</description>
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</method>
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<method name="get_ccdik_joint_bone_name" qualifiers="const">
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<return type="String" />
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<argument index="0" name="joint_idx" type="int" />
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<description>
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Returns the name of the bone that is assigned to the CCDIK joint at [code]joint_idx[/code].
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</description>
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</method>
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<method name="get_ccdik_joint_ccdik_axis" qualifiers="const">
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<return type="int" />
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<argument index="0" name="joint_idx" type="int" />
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<description>
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Returns the integer representing the joint axis of the CCDIK joint at [code]joint_idx[/code].
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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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<argument 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 [code]joint_idx[/code]. [b]Note:[/b] This angle is in degrees!
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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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<argument 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 [code]joint_idx[/code]. [b]Note:[/b] This angle is in degrees!
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</description>
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</method>
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<method name="get_ccdik_joint_constraint_invert" qualifiers="const">
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<return type="bool" />
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<argument index="0" name="joint_idx" type="int" />
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<description>
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Returns whether the CCDIK joint at [code]joint_idx[/code] uses an inverted joint constraint. See [method set_ccdik_joint_constraint_invert] for details.
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</description>
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</method>
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<method name="get_ccdik_joint_enable_joint_constraint" qualifiers="const">
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<return type="bool" />
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<argument index="0" name="joint_idx" type="int" />
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<description>
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Enables angle constraints to the CCDIK joint at [code]joint_idx[/code].
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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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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="bone_index" type="int" />
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<description>
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Sets the bone index, [code]bone_index[/code], of the CCDIK joint at [code]joint_idx[/code]. When possible, this will also update the [code]bone_name[/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_bone_name">
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<return type="void" />
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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="bone_name" type="String" />
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<description>
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Sets the bone name, [code]bone_name[/code], of the CCDIK joint at [code]joint_idx[/code]. When possible, this will also update the [code]bone_index[/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_ccdik_axis">
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<return type="void" />
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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="axis" type="int" />
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<description>
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Sets the joint axis of the CCDIK joint at [code]joint_idx[/code] to the passed-in joint axis, [code]axis[/code].
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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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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="max_angle" type="float" />
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<description>
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Sets the maximum angle constraint for the joint at [code]joint_idx[/code]. [b]Note:[/b] This angle must be in radians!
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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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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="min_angle" type="float" />
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<description>
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Sets the minimum angle constraint for the joint at [code]joint_idx[/code]. [b]Note:[/b] This angle must be in radians!
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</description>
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</method>
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<method name="set_ccdik_joint_constraint_invert">
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<return type="void" />
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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="invert" type="bool" />
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<description>
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Sets whether the CCDIK joint at [code]joint_idx[/code] 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_enable_joint_constraint">
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<return type="void" />
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<argument index="0" name="joint_idx" type="int" />
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<argument index="1" name="enable" type="bool" />
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<description>
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Sets whether joint constraints are enabled for the CCDIK joint at [code]joint_idx[/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 amount of CCDIK joints in the CCDIK modification.
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</member>
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<member name="high_quality_solve" type="bool" setter="set_use_high_quality_solve" getter="get_use_high_quality_solve" default="true">
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When true, the CCDIK algorithm will perform a higher quality solve that returns more natural results. A high quality solve requires more computation power to solve though, and therefore can be disabled to save performance.
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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 [BoneAttachment3D] node attached to the final bone in the CCDIK chain, where the child node is offset so it is at the end of the final bone.
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</member>
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</members>
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<constants>
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</constants>
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</class>
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