New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-03 18:02:24 +00:00
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/*************************************************************************/
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/* skeleton_modification_2d_ccdik.h */
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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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2022-01-03 20:27:34 +00:00
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-03 18:02:24 +00:00
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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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2022-07-23 21:41:51 +00:00
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#ifndef SKELETON_MODIFICATION_2D_CCDIK_H
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#define SKELETON_MODIFICATION_2D_CCDIK_H
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New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-03 18:02:24 +00:00
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#include "scene/2d/skeleton_2d.h"
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#include "scene/resources/skeleton_modification_2d.h"
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///////////////////////////////////////
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// SkeletonModification2DCCDIK
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///////////////////////////////////////
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class SkeletonModification2DCCDIK : public SkeletonModification2D {
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GDCLASS(SkeletonModification2DCCDIK, SkeletonModification2D);
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private:
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struct CCDIK_Joint_Data2D {
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int bone_idx = -1;
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NodePath bone2d_node;
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ObjectID bone2d_node_cache;
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bool rotate_from_joint = false;
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bool enable_constraint = false;
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float constraint_angle_min = 0;
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float constraint_angle_max = (2.0 * Math_PI);
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bool constraint_angle_invert = false;
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bool constraint_in_localspace = true;
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bool editor_draw_gizmo = true;
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};
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Vector<CCDIK_Joint_Data2D> ccdik_data_chain;
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NodePath target_node;
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ObjectID target_node_cache;
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void update_target_cache();
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NodePath tip_node;
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ObjectID tip_node_cache;
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void update_tip_cache();
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void ccdik_joint_update_bone2d_cache(int p_joint_idx);
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void _execute_ccdik_joint(int p_joint_idx, Node2D *p_target, Node2D *p_tip);
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protected:
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static void _bind_methods();
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bool _set(const StringName &p_path, const Variant &p_value);
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bool _get(const StringName &p_path, Variant &r_ret) const;
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void _get_property_list(List<PropertyInfo> *p_list) const;
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public:
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void _execute(float p_delta) override;
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void _setup_modification(SkeletonModificationStack2D *p_stack) override;
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void _draw_editor_gizmo() override;
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void set_target_node(const NodePath &p_target_node);
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NodePath get_target_node() const;
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void set_tip_node(const NodePath &p_tip_node);
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NodePath get_tip_node() const;
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int get_ccdik_data_chain_length();
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void set_ccdik_data_chain_length(int p_new_length);
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void set_ccdik_joint_bone2d_node(int p_joint_idx, const NodePath &p_target_node);
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NodePath get_ccdik_joint_bone2d_node(int p_joint_idx) const;
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void set_ccdik_joint_bone_index(int p_joint_idx, int p_bone_idx);
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int get_ccdik_joint_bone_index(int p_joint_idx) const;
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void set_ccdik_joint_rotate_from_joint(int p_joint_idx, bool p_rotate_from_joint);
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bool get_ccdik_joint_rotate_from_joint(int p_joint_idx) const;
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void set_ccdik_joint_enable_constraint(int p_joint_idx, bool p_constraint);
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bool get_ccdik_joint_enable_constraint(int p_joint_idx) const;
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void set_ccdik_joint_constraint_angle_min(int p_joint_idx, float p_angle_min);
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float get_ccdik_joint_constraint_angle_min(int p_joint_idx) const;
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void set_ccdik_joint_constraint_angle_max(int p_joint_idx, float p_angle_max);
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float get_ccdik_joint_constraint_angle_max(int p_joint_idx) const;
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void set_ccdik_joint_constraint_angle_invert(int p_joint_idx, bool p_invert);
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bool get_ccdik_joint_constraint_angle_invert(int p_joint_idx) const;
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void set_ccdik_joint_constraint_in_localspace(int p_joint_idx, bool p_constraint_in_localspace);
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bool get_ccdik_joint_constraint_in_localspace(int p_joint_idx) const;
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void set_ccdik_joint_editor_draw_gizmo(int p_joint_idx, bool p_draw_gizmo);
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bool get_ccdik_joint_editor_draw_gizmo(int p_joint_idx) const;
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SkeletonModification2DCCDIK();
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~SkeletonModification2DCCDIK();
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};
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2022-07-23 21:41:51 +00:00
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#endif // SKELETON_MODIFICATION_2D_CCDIK_H
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