godot/scene/3d/skeleton.cpp

/*************************************************************************/
/*  skeleton.cpp                                                         */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
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/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur.                 */
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/* 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   */
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/* distribute, sublicense, and/or sell copies of the Software, and to    */
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/* the following conditions:                                             */
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/* The above copyright notice and this permission notice shall be        */
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/*                                                                       */
/* 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.*/
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/*************************************************************************/
#include "skeleton.h"
 
#include "message_queue.h"

#include "scene/resources/surface_tool.h"
#include "core/globals.h"


bool Skeleton::_set(const StringName& p_path, const Variant& p_value) {

	String path = p_path;

	if (!path.begins_with("bones/"))
		return false;
		
	int which=path.get_slice("/",1).to_int();
	String what=path.get_slice("/",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=="pose")
		set_bone_pose(which, p_value);
	else if (what=="bound_childs") {
		Array children=p_value;
		
		bones[which].nodes_bound.clear();
		
		for (int i=0;i<children.size();i++) {
		
			NodePath path=children[i];
			ERR_CONTINUE( path.operator String()=="" );
			Node *node = get_node(path);
			ERR_CONTINUE(!node);
			bind_child_node_to_bone(which,node);
		}
	} else {
		return false;
	}

	return true;
}

bool Skeleton::_get(const StringName& p_name,Variant &r_ret) const {

	String path=p_name;

	if (!path.begins_with("bones/"))
		return false;
		
	int which=path.get_slice("/",1).to_int();
	String what=path.get_slice("/",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=="pose")
		r_ret=get_bone_pose(which);
	else if (what=="bound_childs") {
		Array children;
		
		for (const List<uint32_t>::Element *E=bones[which].nodes_bound.front();E;E=E->next()) {
		
			Object *obj=ObjectDB::get_instance(E->get());
			ERR_CONTINUE(!obj);
			Node *node=obj->cast_to<Node>();
			ERR_CONTINUE(!node);
			NodePath path=get_path_to(node);
			children.push_back(path);
			
		}
		
		r_ret=children;
	} else
		return false;
	
	return true;

}
void Skeleton::_get_property_list( List<PropertyInfo>* p_list ) const {

	for (int i=0;i<bones.size();i++) {
		
		String prep="bones/"+itos(i)+"/";
		p_list->push_back( PropertyInfo( Variant::STRING, prep+"name" ) );
		p_list->push_back( PropertyInfo( Variant::INT, prep+"parent" , PROPERTY_HINT_RANGE,"-1,"+itos(i-1)+",1") );
		p_list->push_back( PropertyInfo( Variant::TRANSFORM, prep+"rest" ) );
		p_list->push_back( PropertyInfo( Variant::BOOL, prep+"enabled" ) );
		p_list->push_back( PropertyInfo( Variant::TRANSFORM, prep+"pose", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR ) );
		p_list->push_back( PropertyInfo( Variant::ARRAY, prep+"bound_childs" ) );
	}
}

void Skeleton::_notification(int p_what) {

	switch(p_what) {
	
		case NOTIFICATION_ENTER_WORLD: {
		
			if (dirty) {
			
				dirty=false;
				_make_dirty(); // property make it dirty
			}
			
		} break;
		case NOTIFICATION_EXIT_WORLD: {
		
		} break;
		case NOTIFICATION_UPDATE_SKELETON: {


			VisualServer *vs=VisualServer::get_singleton();
			Bone *bonesptr=&bones[0];
			int len=bones.size();

			vs->skeleton_resize( skeleton, len ); // if same size, nothin really happens

			// pose changed, rebuild cache of inverses
			if (rest_global_inverse_dirty) {

				// calculate global rests and invert them
				for (int i=0;i<len;i++) {
					Bone &b=bonesptr[i];
					if (b.parent>=0)
						b.rest_global_inverse=bonesptr[b.parent].rest_global_inverse * b.rest;
					else
						b.rest_global_inverse=b.rest;
				}
				for (int i=0;i<len;i++) {
					Bone &b=bonesptr[i];
					b.rest_global_inverse.affine_invert();
				}
				
				rest_global_inverse_dirty=false;

			}
			
			for (int i=0;i<len;i++) {
			
				Bone &b=bonesptr[i];
		
				if (b.enabled) {

					Transform pose=b.pose;
					if (b.custom_pose_enable) {

						pose = b.custom_pose * pose;
					}

					if (b.parent>=0) {
					
						b.pose_global=bonesptr[b.parent].pose_global * (b.rest * pose);
					} else {
					
						b.pose_global=b.rest * pose;
					}
				} else {
				
					if (b.parent>=0) {
					
						b.pose_global=bonesptr[b.parent].pose_global * b.rest;
					} else {
					
						b.pose_global=b.rest;				
					}				
				}
				
				vs->skeleton_bone_set_transform( skeleton, i,  b.pose_global * b.rest_global_inverse );

				for(List<uint32_t>::Element *E=b.nodes_bound.front();E;E=E->next()) {

					Object *obj=ObjectDB::get_instance(E->get());
					ERR_CONTINUE(!obj);
					Spatial *sp = obj->cast_to<Spatial>();
					ERR_CONTINUE(!sp);
					sp->set_transform(b.pose_global * b.rest_global_inverse);
				}
			}

			dirty=false;
		} break;	
	}
}

Transform Skeleton::get_bone_transform(int p_bone) const {
	ERR_FAIL_INDEX_V(p_bone,bones.size(),Transform());
	if (dirty)
		const_cast<Skeleton*>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
	return bones[p_bone].pose_global * bones[p_bone].rest_global_inverse;
}


void Skeleton::set_bone_global_pose(int p_bone,const Transform& p_pose) {

	ERR_FAIL_INDEX(p_bone,bones.size());
	if (bones[p_bone].parent==-1) {

		set_bone_pose(p_bone,bones[p_bone].rest_global_inverse * p_pose); //fast
	} else {

		set_bone_pose(p_bone, bones[p_bone].rest.affine_inverse() * (get_bone_global_pose(bones[p_bone].parent).affine_inverse() * p_pose)); //slow

	}

}

Transform Skeleton::get_bone_global_pose(int p_bone) const {

	ERR_FAIL_INDEX_V(p_bone,bones.size(),Transform());
	if (dirty)
		const_cast<Skeleton*>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
	return bones[p_bone].pose_global;
}

RID Skeleton::get_skeleton() const {

	return skeleton;
}

// skeleton creation api
void Skeleton::add_bone(const String& p_name) {

	ERR_FAIL_COND( p_name=="" || p_name.find(":")!=-1 || p_name.find("/")!=-1 );
	
	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);
	
	rest_global_inverse_dirty=true;
	_make_dirty();
	update_gizmo();
}
int Skeleton::find_bone(String p_name) const {

	for (int i=0;i<bones.size();i++) {
	
		if (bones[i].name==p_name)
			return i;
	}
	
	return -1;
}
String Skeleton::get_bone_name(int p_bone) const {

	ERR_FAIL_INDEX_V( p_bone, bones.size(), "" );

	return bones[p_bone].name;
}

int Skeleton::get_bone_count() const {

	return bones.size();
}

void Skeleton::set_bone_parent(int p_bone, int p_parent) {

	ERR_FAIL_INDEX( p_bone, bones.size() );
	ERR_FAIL_COND( p_parent!=-1 && (p_parent<0 || p_parent>=p_bone));
	
	bones[p_bone].parent=p_parent;
	rest_global_inverse_dirty=true;
	_make_dirty();
}

int Skeleton::get_bone_parent(int p_bone) const {

	ERR_FAIL_INDEX_V( p_bone, bones.size(), -1 );
	
	return bones[p_bone].parent;
}

void Skeleton::set_bone_rest(int p_bone, const Transform& p_rest) {

	ERR_FAIL_INDEX( p_bone, bones.size() );
	
	bones[p_bone].rest=p_rest;
	rest_global_inverse_dirty=true;
	_make_dirty();

}
Transform Skeleton::get_bone_rest(int p_bone) const {

	ERR_FAIL_INDEX_V( p_bone, bones.size(), Transform() );
	
	return bones[p_bone].rest;

}

void Skeleton::set_bone_enabled(int p_bone, bool p_enabled) {

	ERR_FAIL_INDEX( p_bone, bones.size() );
	
	bones[p_bone].enabled=p_enabled;
	rest_global_inverse_dirty=true;
	_make_dirty();
}
bool Skeleton::is_bone_enabled(int p_bone) const {

	ERR_FAIL_INDEX_V( p_bone, bones.size(), false );
	return bones[p_bone].enabled;

}

void Skeleton::bind_child_node_to_bone(int p_bone,Node *p_node) {

	ERR_FAIL_NULL(p_node);
	ERR_FAIL_INDEX( p_bone, bones.size() );
	
	uint32_t id=p_node->get_instance_ID();
	
	for (List<uint32_t>::Element *E=bones[p_bone].nodes_bound.front();E;E=E->next()) {
	
		if (E->get()==id)
			return; // already here
	}
	
	bones[p_bone].nodes_bound.push_back(id);
	
}
void Skeleton::unbind_child_node_from_bone(int p_bone,Node *p_node) {

	ERR_FAIL_NULL(p_node);
	ERR_FAIL_INDEX( p_bone, bones.size() );
	
	uint32_t id=p_node->get_instance_ID();
	bones[p_bone].nodes_bound.erase(id);

}
void Skeleton::get_bound_child_nodes_to_bone(int p_bone,List<Node*> *p_bound) const {

	ERR_FAIL_INDEX( p_bone, bones.size() );
	
	for (const List<uint32_t>::Element *E=bones[p_bone].nodes_bound.front();E;E=E->next()) {
	
		Object *obj=ObjectDB::get_instance(E->get());
		ERR_CONTINUE(!obj);
		p_bound->push_back(obj->cast_to<Node>());
	}

}

void Skeleton::clear_bones() {

	bones.clear();
	rest_global_inverse_dirty=true;
	_make_dirty();
}

// posing api

void Skeleton::set_bone_pose(int p_bone, const Transform& p_pose) {

	ERR_FAIL_INDEX( p_bone, bones.size() );
	ERR_FAIL_COND( !is_inside_tree() );
	

	bones[p_bone].pose=p_pose;
	_make_dirty();
}
Transform Skeleton::get_bone_pose(int p_bone) const {

	ERR_FAIL_INDEX_V( p_bone, bones.size(), Transform() );
	return bones[p_bone].pose;

}

void Skeleton::set_bone_custom_pose(int p_bone, const Transform& p_custom_pose) {

	ERR_FAIL_INDEX( p_bone, bones.size() );
//	ERR_FAIL_COND( !is_inside_scene() );


	bones[p_bone].custom_pose_enable=(p_custom_pose!=Transform());
	bones[p_bone].custom_pose=p_custom_pose;

	_make_dirty();
}

Transform Skeleton::get_bone_custom_pose(int p_bone) const {

	ERR_FAIL_INDEX_V( p_bone, bones.size(), Transform() );
	return bones[p_bone].custom_pose;

}


void Skeleton::_make_dirty() {

	if (dirty)
		return;
		
	if (!is_inside_tree()) {
		dirty=true;
		return;
	}
	MessageQueue::get_singleton()->push_notification( this, NOTIFICATION_UPDATE_SKELETON );
	dirty=true;
}


RES Skeleton::_get_gizmo_geometry() const {

	if (!GLOBAL_DEF("debug/draw_skeleton", true))
		return RES();

	if (bones.size()==0)
		return RES();

	Ref<SurfaceTool> surface_tool( memnew( SurfaceTool ));

	Ref<FixedMaterial> mat( memnew( FixedMaterial ));

	mat->set_parameter( FixedMaterial::PARAM_DIFFUSE,Color(0.6,1.0,0.3,0.1) );
	mat->set_line_width(4);
	mat->set_flag(Material::FLAG_DOUBLE_SIDED,true);
	mat->set_flag(Material::FLAG_UNSHADED,true);
	mat->set_flag(Material::FLAG_ONTOP,true);
//	mat->set_hint(Material::HINT_NO_DEPTH_DRAW,true);

	surface_tool->begin(Mesh::PRIMITIVE_LINES);
	surface_tool->set_material(mat);


	const Bone *bonesptr=&bones[0];
	int len=bones.size();

	for (int i=0;i<len;i++) {
	
		const Bone &b=bonesptr[i];
		
		Transform t;
		if (b.parent<0)
			continue;
			
		Vector3 v1=(bonesptr[b.parent].pose_global * bonesptr[b.parent].rest_global_inverse).xform(bonesptr[b.parent].rest_global_inverse.affine_inverse().origin);
		Vector3 v2=(b.pose_global * b.rest_global_inverse).xform(b.rest_global_inverse.affine_inverse().origin);

		surface_tool->add_vertex(v1);
		surface_tool->add_vertex(v2);

	}

	return surface_tool->commit();

}

void Skeleton::localize_rests() {

	for(int i=bones.size()-1;i>=0;i--) {

		if (bones[i].parent>=0)
			set_bone_rest(i,bones[bones[i].parent].rest.affine_inverse() * bones[i].rest);
	}
}



void Skeleton::_bind_methods() {




	ObjectTypeDB::bind_method(_MD("add_bone","name"),&Skeleton::add_bone);
	ObjectTypeDB::bind_method(_MD("find_bone","name"),&Skeleton::find_bone);
	ObjectTypeDB::bind_method(_MD("get_bone_name","bone_idx"),&Skeleton::get_bone_name);
	
	ObjectTypeDB::bind_method(_MD("get_bone_parent","bone_idx"),&Skeleton::get_bone_parent);
	ObjectTypeDB::bind_method(_MD("set_bone_parent","bone_idx","parent_idx"),&Skeleton::set_bone_parent);
	
	ObjectTypeDB::bind_method(_MD("get_bone_count"),&Skeleton::get_bone_count);

	ObjectTypeDB::bind_method(_MD("get_bone_rest","bone_idx"),&Skeleton::get_bone_rest);
	ObjectTypeDB::bind_method(_MD("set_bone_rest","bone_idx","rest"),&Skeleton::set_bone_rest);

	ObjectTypeDB::bind_method(_MD("bind_child_node_to_bone","bone_idx","node:Node"),&Skeleton::bind_child_node_to_bone);
	ObjectTypeDB::bind_method(_MD("unbind_child_node_from_bone","bone_idx","node:Node"),&Skeleton::unbind_child_node_from_bone);
	ObjectTypeDB::bind_method(_MD("get_bound_child_nodes_to_bone","bone_idx"),&Skeleton::_get_bound_child_nodes_to_bone);
	
	ObjectTypeDB::bind_method(_MD("clear_bones"),&Skeleton::clear_bones);
	
	ObjectTypeDB::bind_method(_MD("get_bone_pose","bone_idx"),&Skeleton::get_bone_pose);
	ObjectTypeDB::bind_method(_MD("set_bone_pose","bone_idx","pose"),&Skeleton::set_bone_pose);

	ObjectTypeDB::bind_method(_MD("set_bone_global_pose","bone_idx","pose"),&Skeleton::set_bone_global_pose);
	ObjectTypeDB::bind_method(_MD("get_bone_global_pose","bone_idx"),&Skeleton::get_bone_global_pose);

	ObjectTypeDB::bind_method(_MD("get_bone_custom_pose","bone_idx"),&Skeleton::get_bone_custom_pose);
	ObjectTypeDB::bind_method(_MD("set_bone_custom_pose","bone_idx","custom_pose"),&Skeleton::set_bone_custom_pose);

	ObjectTypeDB::bind_method(_MD("get_bone_transform","bone_idx"),&Skeleton::get_bone_transform);

	BIND_CONSTANT( NOTIFICATION_UPDATE_SKELETON );
}



Skeleton::Skeleton() {

	rest_global_inverse_dirty=true;
	dirty=false;
	skeleton=VisualServer::get_singleton()->skeleton_create();
}


Skeleton::~Skeleton() {

	VisualServer::get_singleton()->free( skeleton );
}