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Remove incomplete Inverse Kinematic module 

The plan is to implement IK properly in the core engine for version 3.1,
together with ragdolls in the Skeleton node to let them reuse the same
limits and constraints.

Therefore we remove this module as part of the API breakage in 3.0, so
that we are not limited by staying compatible with it in 3.1.
This commit is contained in:
Rémi Verschelde 2016-12-04 11:53:59 +01:00
parent 4d8bed3321
commit 56195873b6
6 changed files with 0 additions and 492 deletions
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7
modules/ik/SCsub
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@ -1,7 +0,0 @@
#!/usr/bin/env python
Import('env')
env.add_source_files(env.modules_sources, "*.cpp")
Export('env')

8
modules/ik/config.py
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def can_build(platform):
return True
def configure(env):
pass

326
modules/ik/ik.cpp
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/*************************************************************************/
/* ik.cpp */
/* Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com> */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 "ik.h"
bool InverseKinematics::_get(const StringName& p_name,Variant &r_ret) const
{
if (String(p_name)=="ik_bone") {
r_ret=get_bone_name();
return true;
}
return false;
}
bool InverseKinematics::_set(const StringName& p_name, const Variant& p_value)
{
if (String(p_name)=="ik_bone") {
set_bone_name(p_value);
changed = true;
return true;
}
return false;
}
void InverseKinematics::_get_property_list( List<PropertyInfo>* p_list ) const
{
Skeleton *parent=NULL;
if(get_parent())
parent=get_parent()->cast_to<Skeleton>();
if (parent) {
String names;
for(int i=0;i<parent->get_bone_count();i++) {
if(i>0)
names+=",";
names+=parent->get_bone_name(i);
}
p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone",PROPERTY_HINT_ENUM,names));
} else {
p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone"));
}
}
void InverseKinematics::_check_bind()
{
if (get_parent() && get_parent()->cast_to<Skeleton>()) {
Skeleton *sk = get_parent()->cast_to<Skeleton>();
int idx = sk->find_bone(ik_bone);
if (idx!=-1) {
ik_bone_no = idx;
bound=true;
}
skel = sk;
}
}
void InverseKinematics::_check_unbind()
{
if (bound) {
if (get_parent() && get_parent()->cast_to<Skeleton>()) {
Skeleton *sk = get_parent()->cast_to<Skeleton>();
int idx = sk->find_bone(ik_bone);
if (idx!=-1)
ik_bone_no = idx;
else
ik_bone_no = 0;
skel = sk;
}
bound=false;
}
}
void InverseKinematics::set_bone_name(const String& p_name)
{
if (is_inside_tree())
_check_unbind();
ik_bone=p_name;
if (is_inside_tree())
_check_bind();
changed = true;
}
String InverseKinematics::get_bone_name() const
{
return ik_bone;
}
void InverseKinematics::set_iterations(int itn)
{
if (is_inside_tree())
_check_unbind();
iterations=itn;
if (is_inside_tree())
_check_bind();
changed = true;
}
int InverseKinematics::get_iterations() const
{
return iterations;
}
void InverseKinematics::set_chain_size(int cs)
{
if (is_inside_tree())
_check_unbind();
chain_size=cs;
chain.clear();
if (bound)
update_parameters();
if (is_inside_tree())
_check_bind();
changed = true;
}
int InverseKinematics::get_chain_size() const
{
return chain_size;
}
void InverseKinematics::set_precision(float p)
{
if (is_inside_tree())
_check_unbind();
precision=p;
if (is_inside_tree())
_check_bind();
changed = true;
}
float InverseKinematics::get_precision() const
{
return precision;
}
void InverseKinematics::set_speed(float p)
{
if (is_inside_tree())
_check_unbind();
speed=p;
if (is_inside_tree())
_check_bind();
changed = true;
}
float InverseKinematics::get_speed() const
{
return speed;
}
void InverseKinematics::update_parameters()
{
tail_bone = -1;
for (int i = 0; i < skel->get_bone_count(); i++)
if (skel->get_bone_parent(i) == ik_bone_no)
tail_bone = i;
int cur_bone = ik_bone_no;
int its = chain_size;
while (its > 0 && cur_bone >= 0) {
chain.push_back(cur_bone);
cur_bone = skel->get_bone_parent(cur_bone);
its--;
}
}
void InverseKinematics::_notification(int p_what)
{
switch(p_what) {
case NOTIFICATION_ENTER_TREE: {
_check_bind();
if (bound) {
update_parameters();
changed = false;
set_process(true);
}
} break;
case NOTIFICATION_PROCESS: {
Spatial *sksp = skel->cast_to<Spatial>();
if (!bound)
break;
if (!sksp)
break;
if (changed) {
update_parameters();
changed = false;
}
Vector3 to = get_translation();
for (int hump = 0; hump < iterations; hump++) {
int depth = 0;
float olderr = 1000.0;
float psign = 1.0;
bool reached = false;
for (List<int>::Element *b = chain.front(); b; b = b->next()) {
int cur_bone = b->get();
Vector3 d = skel->get_bone_global_pose(tail_bone).origin;
Vector3 rg = to;
float err = d.distance_squared_to(rg);
if (err < precision) {
if (!reached && err < precision)
reached = true;
break;
} else
if (reached)
reached = false;
if (err > olderr)
psign = -psign;
Transform mod = skel->get_bone_global_pose(cur_bone);
Quat q1 = Quat(mod.basis).normalized();
Transform mod2 = mod.looking_at(to, Vector3(0.0, 1.0, 0.0));
Quat q2 = Quat(mod2.basis).normalized();
if (psign < 0.0)
q2 = q2.inverse();
Quat q = q1.slerp(q2, speed / (1.0 + 500.0 * depth)).normalized();
Transform fin = Transform(q);
fin.origin = mod.origin;
skel->set_bone_global_pose(cur_bone, fin);
depth++;
}
if (reached)
break;
}
} break;
case NOTIFICATION_EXIT_TREE: {
set_process(false);
_check_unbind();
} break;
}
}
void InverseKinematics::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_bone_name","ik_bone"),&InverseKinematics::set_bone_name);
ObjectTypeDB::bind_method(_MD("get_bone_name"),&InverseKinematics::get_bone_name);
ObjectTypeDB::bind_method(_MD("set_iterations","iterations"),&InverseKinematics::set_iterations);
ObjectTypeDB::bind_method(_MD("get_iterations"),&InverseKinematics::get_iterations);
ObjectTypeDB::bind_method(_MD("set_chain_size","chain_size"),&InverseKinematics::set_chain_size);
ObjectTypeDB::bind_method(_MD("get_chain_size"),&InverseKinematics::get_chain_size);
ObjectTypeDB::bind_method(_MD("set_precision","precision"),&InverseKinematics::set_precision);
ObjectTypeDB::bind_method(_MD("get_precision"),&InverseKinematics::get_precision);
ObjectTypeDB::bind_method(_MD("set_speed","speed"),&InverseKinematics::set_speed);
ObjectTypeDB::bind_method(_MD("get_speed"),&InverseKinematics::get_speed);
ADD_PROPERTY(PropertyInfo(Variant::INT, "iterations"), _SCS("set_iterations"), _SCS("get_iterations"));
ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_size"), _SCS("set_chain_size"), _SCS("get_chain_size"));
ADD_PROPERTY(PropertyInfo(Variant::REAL, "precision"), _SCS("set_precision"), _SCS("get_precision"));
ADD_PROPERTY(PropertyInfo(Variant::REAL, "speed"), _SCS("set_speed"), _SCS("get_speed"));
}
InverseKinematics::InverseKinematics()
{
bound=false;
chain_size = 2;
iterations = 100;
precision = 0.001;
speed = 0.2;
}

74
modules/ik/ik.h
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/*************************************************************************/
/* ik.h */
/* Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com> */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/*************************************************************************/
#ifndef IK_H
#define IK_H
#include "scene/3d/skeleton.h"
class InverseKinematics : public Spatial {
OBJ_TYPE(InverseKinematics, Spatial);
bool bound;
String ik_bone;
int ik_bone_no;
int tail_bone;
int chain_size;
Skeleton *skel;
List<int> chain;
void _check_bind();
void _check_unbind();
int iterations;
float precision;
float speed;
bool changed;
protected:
bool _set(const StringName& p_name, const Variant& p_value);
bool _get(const StringName& p_name,Variant &r_ret) const;
void _get_property_list( List<PropertyInfo> *p_list) const;
void _notification(int p_what);
static void _bind_methods();
void update_parameters();
public:
Skeleton *get_skeleton();
void set_bone_name(const String& p_name);
String get_bone_name() const;
void set_iterations(int itn);
int get_iterations() const;
void set_chain_size(int cs);
int get_chain_size() const;
void set_precision(float p);
float get_precision() const;
void set_speed(float p);
float get_speed() const;
InverseKinematics();
};
#endif

47
modules/ik/register_types.cpp
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@ -1,47 +0,0 @@
/*************************************************************************/
/* register_types.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 "register_types.h"
#ifndef _3D_DISABLED
#include "object_type_db.h"
#include "ik.h"
#endif
void register_ik_types() {
#ifndef _3D_DISABLED
ObjectTypeDB::register_type<InverseKinematics>();
#endif
}
void unregister_ik_types() {
}

30
modules/ik/register_types.h
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@ -1,30 +0,0 @@
/*************************************************************************/
/* register_types.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/*************************************************************************/
void register_ik_types();
void unregister_ik_types();