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Fixed task creation with void chain in SkeletonIK

This commit is contained in:
Andrea Catania 2018-08-26 12:41:20 +02:00
parent 64b5eaf43c
commit 76d02b13a1
2 changed files with 14 additions and 8 deletions
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20
scene/animation/skeleton_ik.cpp
View File

@ -54,9 +54,9 @@ FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::add_child(
} }
/// Build a chain that starts from the root to tip /// Build a chain that starts from the root to tip
void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) { bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
ERR_FAIL_COND(-1 == p_task->root_bone); ERR_FAIL_COND_V(-1 == p_task->root_bone, false);
Chain &chain(p_task->chain); Chain &chain(p_task->chain);
@ -77,8 +77,8 @@ void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) { for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) {
const EndEffector *ee(&p_task->end_effectors[x]); const EndEffector *ee(&p_task->end_effectors[x]);
ERR_FAIL_COND(p_task->root_bone >= ee->tip_bone); ERR_FAIL_COND_V(p_task->root_bone >= ee->tip_bone, false);
ERR_FAIL_INDEX(ee->tip_bone, p_task->skeleton->get_bone_count()); ERR_FAIL_INDEX_V(ee->tip_bone, p_task->skeleton->get_bone_count(), false);
sub_chain_size = 0; sub_chain_size = 0;
// Picks all IDs that composing a single chain in reverse order (except the root) // Picks all IDs that composing a single chain in reverse order (except the root)
@ -133,6 +133,7 @@ void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
break; break;
} }
} }
return true;
} }
void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_chain_item) { void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_chain_item) {
@ -247,7 +248,10 @@ FabrikInverseKinematic::Task *FabrikInverseKinematic::create_simple_task(Skeleto
task->end_effectors.push_back(ee); task->end_effectors.push_back(ee);
task->goal_global_transform = goal_transform; task->goal_global_transform = goal_transform;
build_chain(task); if (!build_chain(task)) {
free_task(task);
return NULL;
}
return task; return task;
} }
@ -535,8 +539,10 @@ void SkeletonIK::reload_chain() {
return; return;
task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform()); task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform());
task->max_iterations = max_iterations; if (task) {
task->min_distance = min_distance; task->max_iterations = max_iterations;
task->min_distance = min_distance;
}
} }
void SkeletonIK::reload_goal() { void SkeletonIK::reload_goal() {

2
scene/animation/skeleton_ik.h
View File

@ -123,7 +123,7 @@ public:
private: private:
/// Init a chain that starts from the root to tip /// Init a chain that starts from the root to tip
static void build_chain(Task *p_task, bool p_force_simple_chain = true); 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 update_chain(const Skeleton *p_sk, ChainItem *p_chain_item);