From 71c6c8556526f2cdd6784cc475aa1133f83d7059 Mon Sep 17 00:00:00 2001 From: TwistedTwigleg Date: Mon, 27 Jul 2020 15:27:58 -0400 Subject: [PATCH] Changes to SkeletonIK: * Removed the pointers to PhysicalBone in the code, as they were unused. * Forward ported the SkeletonIK bone scaling fix I made from Godot 3.2 to Godot 4.0. * Fixed issue where the root bone in the IK chain would not rotate correctly. * The issue turned out to be the update_chain function being called in solve. This would override the root bone transform incorrectly and that would cause it not to rotate after just a single solve. Removing the update_chain function fixes the issue and based on my testing there are no adverse effects. * While the old fix on this PR (prior to a force push) required a hack fix, this new fix does not! * Removed the update_chain function. This change doesn't appear to have any adverse effects in any of the projects I tested (including with animations, Skeleton3D or otherwise, from AnimationPlayer nodes!) * Fixed issue where the scale of the Skeleton node would change the position of the target, causing it not to work with skeletons that have a global scale of anything but 1. (cherry picked from commit a622649876374ffef9b92b581c255cc5d29cd203) --- scene/animation/skeleton_ik.cpp | 22 ++-------------------- scene/animation/skeleton_ik.h | 4 ---- 2 files changed, 2 insertions(+), 24 deletions(-) diff --git a/scene/animation/skeleton_ik.cpp b/scene/animation/skeleton_ik.cpp index dac86e36e37..570207a7ccc 100644 --- a/scene/animation/skeleton_ik.cpp +++ b/scene/animation/skeleton_ik.cpp @@ -64,7 +64,6 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain chain.chain_root.bone = p_task->root_bone; chain.chain_root.initial_transform = p_task->skeleton->get_bone_global_pose(chain.chain_root.bone); chain.chain_root.current_pos = chain.chain_root.initial_transform.origin; - chain.chain_root.pb = p_task->skeleton->get_physical_bone(chain.chain_root.bone); chain.middle_chain_item = NULL; // Holds all IDs that are composing a single chain in reverse order @@ -101,8 +100,6 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain child_ci = sub_chain->add_child(chain_ids[i]); - child_ci->pb = p_task->skeleton->get_physical_bone(child_ci->bone); - child_ci->initial_transform = p_task->skeleton->get_bone_global_pose(child_ci->bone); child_ci->current_pos = child_ci->initial_transform.origin; @@ -136,20 +133,6 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain return true; } -void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_chain_item) { - - if (!p_chain_item) - return; - - 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; - - ChainItem *items = p_chain_item->children.ptrw(); - for (int i = 0; i < p_chain_item->children.size(); i += 1) { - update_chain(p_sk, items + i); - } -} - void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet) { real_t distance_to_goal(1e4); @@ -297,9 +280,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true); } - 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); + make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta); if (p_use_magnet && p_task->chain.middle_chain_item) { p_task->chain.magnet_position = p_task->chain.middle_chain_item->initial_transform.origin.linear_interpolate(p_magnet_position, blending_delta); @@ -323,6 +304,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1))); new_bone_pose.basis.rotate(rot_axis, rot_angle); } + } else { // Set target orientation to tip if (override_tip_basis) diff --git a/scene/animation/skeleton_ik.h b/scene/animation/skeleton_ik.h index d646a883d3d..acca8b1c040 100644 --- a/scene/animation/skeleton_ik.h +++ b/scene/animation/skeleton_ik.h @@ -54,7 +54,6 @@ class FabrikInverseKinematic { // Bone info BoneId bone; - PhysicalBone *pb; real_t length; /// Positions relative to root bone @@ -66,7 +65,6 @@ class FabrikInverseKinematic { ChainItem() : parent_item(NULL), bone(-1), - pb(NULL), length(0) {} ChainItem *find_child(const BoneId p_bone_id); @@ -121,8 +119,6 @@ private: /// Init a chain that starts from the root to tip static bool build_chain(Task *p_task, bool p_force_simple_chain = true); - static void update_chain(const Skeleton *p_sk, ChainItem *p_chain_item); - static void solve_simple(Task *p_task, bool p_solve_magnet); /// Special solvers that solve only chains with one end effector static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet);