/*************************************************************************/ /* skeleton_ik_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* 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 SKELETON_IK_H #define SKELETON_IK_H #ifndef _3D_DISABLED /** * @author AndreaCatania */ #include "core/math/transform_3d.h" #include "scene/3d/skeleton_3d.h" class FabrikInverseKinematic { struct EndEffector { BoneId tip_bone; Transform3D goal_transform; }; struct ChainItem { Vector<ChainItem> children; ChainItem *parent_item = nullptr; // Bone info BoneId bone = -1; real_t length = 0.0; /// Positions relative to root bone Transform3D initial_transform; Vector3 current_pos; // Direction from this bone to child Vector3 current_ori; ChainItem *find_child(const BoneId p_bone_id); ChainItem *add_child(const BoneId p_bone_id); }; struct ChainTip { ChainItem *chain_item = nullptr; const EndEffector *end_effector = nullptr; ChainTip() {} ChainTip(ChainItem *p_chain_item, const EndEffector *p_end_effector) : chain_item(p_chain_item), end_effector(p_end_effector) {} }; struct Chain { ChainItem chain_root; ChainItem *middle_chain_item = nullptr; Vector<ChainTip> tips; Vector3 magnet_position; }; public: struct Task { RID self; Skeleton3D *skeleton = nullptr; Chain chain; // Settings real_t min_distance = 0.01; int max_iterations = 10; // Bone data BoneId root_bone = -1; Vector<EndEffector> end_effectors; Transform3D goal_global_transform; Task() {} }; 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 solve_simple(Task *p_task, bool p_solve_magnet, Vector3 p_origin_pos); /// Special solvers that solve only chains with one end effector static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet); static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet, Vector3 p_origin_pos); public: static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform3D &goal_transform); static void free_task(Task *p_task); // The goal of chain should be always in local space static void set_goal(Task *p_task, const Transform3D &p_goal); static void make_goal(Task *p_task, const Transform3D &p_inverse_transf, real_t blending_delta); static void solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position); static void _update_chain(const Skeleton3D *p_skeleton, ChainItem *p_chain_item); }; class SkeletonIK3D : public Node { GDCLASS(SkeletonIK3D, Node); StringName root_bone; StringName tip_bone; real_t interpolation = 1.0; Transform3D target; NodePath target_node_path_override; bool override_tip_basis = true; bool use_magnet = false; Vector3 magnet_position; real_t min_distance = 0.01; int max_iterations = 10; Skeleton3D *skeleton = nullptr; Node3D *target_node_override = nullptr; FabrikInverseKinematic::Task *task = nullptr; protected: virtual void _validate_property(PropertyInfo &property) const override; static void _bind_methods(); virtual void _notification(int p_what); public: SkeletonIK3D(); virtual ~SkeletonIK3D(); void set_root_bone(const StringName &p_root_bone); StringName get_root_bone() const; void set_tip_bone(const StringName &p_tip_bone); StringName get_tip_bone() const; void set_interpolation(real_t p_interpolation); real_t get_interpolation() const; void set_target_transform(const Transform3D &p_target); const Transform3D &get_target_transform() const; void set_target_node(const NodePath &p_node); NodePath get_target_node(); void set_override_tip_basis(bool p_override); bool is_override_tip_basis() const; void set_use_magnet(bool p_use); bool is_using_magnet() const; void set_magnet_position(const Vector3 &p_local_position); const Vector3 &get_magnet_position() const; void set_min_distance(real_t p_min_distance); real_t get_min_distance() const { return min_distance; } void set_max_iterations(int p_iterations); int get_max_iterations() const { return max_iterations; } Skeleton3D *get_parent_skeleton() const { return skeleton; } bool is_running(); void start(bool p_one_time = false); void stop(); private: Transform3D _get_target_transform(); void reload_chain(); void reload_goal(); void _solve_chain(); }; #endif // _3D_DISABLED #endif // SKELETON_IK_H