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Fixed IK rotation issue

This commit is contained in:
Andrea Catania 2020-03-24 09:59:32 +01:00
parent c450d4d3bb
commit 277696d6c5
4 changed files with 15 additions and 6 deletions
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5
editor/plugins/skeleton_ik_editor_plugin.cpp
View File

@ -44,10 +44,7 @@ void SkeletonIKEditorPlugin::_play() {
skeleton_ik->start(); skeleton_ik->start();
} else { } else {
skeleton_ik->stop(); skeleton_ik->stop();
skeleton_ik->get_parent_skeleton()->clear_bones_global_pose_override();
for (int i = 0; i < skeleton_ik->get_parent_skeleton()->get_bone_count(); ++i) {
skeleton_ik->get_parent_skeleton()->set_bone_global_pose_override(i, Transform(), 0);
}
} }
} }

8
scene/3d/skeleton.cpp
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@ -396,6 +396,13 @@ void Skeleton::_notification(int p_what) {
} }
} }
void Skeleton::clear_bones_global_pose_override() {
for (int i = 0; i < bones.size(); i += 1) {
bones.write[i].global_pose_override_amount = 0;
}
_make_dirty();
}
void Skeleton::set_bone_global_pose_override(int p_bone, const Transform &p_pose, float p_amount, bool p_persistent) { void Skeleton::set_bone_global_pose_override(int p_bone, const Transform &p_pose, float p_amount, bool p_persistent) {
ERR_FAIL_INDEX(p_bone, bones.size()); ERR_FAIL_INDEX(p_bone, bones.size());
@ -909,6 +916,7 @@ void Skeleton::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_bone_pose", "bone_idx"), &Skeleton::get_bone_pose); ClassDB::bind_method(D_METHOD("get_bone_pose", "bone_idx"), &Skeleton::get_bone_pose);
ClassDB::bind_method(D_METHOD("set_bone_pose", "bone_idx", "pose"), &Skeleton::set_bone_pose); ClassDB::bind_method(D_METHOD("set_bone_pose", "bone_idx", "pose"), &Skeleton::set_bone_pose);
ClassDB::bind_method(D_METHOD("clear_bones_global_pose_override"), &Skeleton::clear_bones_global_pose_override);
ClassDB::bind_method(D_METHOD("set_bone_global_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton::set_bone_global_pose_override, DEFVAL(false)); ClassDB::bind_method(D_METHOD("set_bone_global_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton::set_bone_global_pose_override, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_bone_global_pose", "bone_idx"), &Skeleton::get_bone_global_pose); ClassDB::bind_method(D_METHOD("get_bone_global_pose", "bone_idx"), &Skeleton::get_bone_global_pose);

1
scene/3d/skeleton.h
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@ -178,6 +178,7 @@ public:
Transform get_bone_rest(int p_bone) const; Transform get_bone_rest(int p_bone) const;
Transform get_bone_global_pose(int p_bone) const; Transform get_bone_global_pose(int p_bone) const;
void clear_bones_global_pose_override();
void set_bone_global_pose_override(int p_bone, const Transform &p_pose, float p_amount, bool p_persistent = false); void set_bone_global_pose_override(int p_bone, const Transform &p_pose, float p_amount, bool p_persistent = false);
void set_bone_enabled(int p_bone, bool p_enabled); void set_bone_enabled(int p_bone, bool p_enabled);

7
scene/animation/skeleton_ik.cpp
View File

@ -144,8 +144,9 @@ void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_cha
p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone); p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone);
p_chain_item->current_pos = p_chain_item->initial_transform.origin; p_chain_item->current_pos = p_chain_item->initial_transform.origin;
for (int i = p_chain_item->children.size() - 1; 0 <= i; --i) { ChainItem *items = p_chain_item->children.ptrw();
update_chain(p_sk, &p_chain_item->children.write[i]); for (int i = 0; i < p_chain_item->children.size(); i += 1) {
update_chain(p_sk, items + i);
} }
} }
@ -286,6 +287,8 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
return; // Skip solving return; // Skip solving
} }
p_task->skeleton->clear_bones_global_pose_override();
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse().scaled(p_task->skeleton->get_global_transform().get_basis().get_scale()), blending_delta); make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse().scaled(p_task->skeleton->get_global_transform().get_basis().get_scale()), blending_delta);
update_chain(p_task->skeleton, &p_task->chain.chain_root); update_chain(p_task->skeleton, &p_task->chain.chain_root);