5ffed49907
This PR and commit adds a new IK system for 3D with the Skeleton3D node
that adds several new IK solvers, as well as additional changes and functionality
for making bone manipulation in Godot easier.
This work was sponsored by GSoC 2020 and TwistedTwigleg
Full list of changes:
* Adds a SkeletonModification3D resource
* This resource is the base where all IK code is written and executed
* Adds a SkeletonModificationStack3D resource
* This node oversees the execution of the modifications and acts as a bridge of sorts for the modifications to the Skeleton3D node
* Adds SkeletonModification3D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in it's own file
* Several changes to Skeletons, listed below:
* Added local_pose_override, which acts just like global_pose_override but keeps bone-child relationships intract
* So if you move a bone using local_pose_override, all of the bones that are children will also be moved. This is different than global_pose_override, which only affects the individual bone
* Internally bones keep track of their children. This removes the need of a processing list, makes it possible to update just a few select bones at a time, and makes it easier to traverse down the bone chain
* Additional functions added for converting from world transform to global poses, global poses to local poses, and all the same changes but backwards (local to global, global to world). This makes it much easier to work with bone transforms without needing to think too much about how to convert them.
* New signal added, bone_pose_changed, that can be used to tell if a specific bone changed its transform. Needed for BoneAttachment3D
* Added functions for getting the forward position of a bone
* BoneAttachment3D node refactored heavily
* BoneAttachment3D node is now completely standalone in its functionality.
* This makes the code easier and less interconnected, as well as allowing them to function properly without being direct children of Skeleton3D nodes
* BoneAttachment3D now can be set either using the index or the bone name.
* BoneAttachment3D nodes can now set the bone transform instead of just following it. This is disabled by default for compatibility
* BoneAttachment3D now shows a warning when not configured correctly
* Added rotate_to_align function in Basis
* Added class reference documentation for all changes
386 lines
17 KiB
XML
386 lines
17 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<class name="Skeleton3D" inherits="Node3D" version="4.0">
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<brief_description>
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Skeleton for characters and animated objects.
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</brief_description>
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<description>
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Skeleton3D provides a hierarchical interface for managing bones, including pose, rest and animation (see [Animation]). It can also use ragdoll physics.
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The overall transform of a bone with respect to the skeleton is determined by the following hierarchical order: rest pose, custom pose and pose.
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Note that "global pose" below refers to the overall transform of the bone with respect to skeleton, so it not the actual global/world transform of the bone.
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</description>
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<tutorials>
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<link title="3D Inverse Kinematics Demo">https://godotengine.org/asset-library/asset/523</link>
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<link title="Third Person Shooter Demo">https://godotengine.org/asset-library/asset/678</link>
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</tutorials>
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<methods>
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<method name="add_bone">
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<return type="void" />
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<argument index="0" name="name" type="String" />
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<description>
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Adds a bone, with name [code]name[/code]. [method get_bone_count] will become the bone index.
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</description>
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</method>
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<method name="add_bone_child">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="child_bone_idx" type="int" />
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<description>
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Takes the given bone pose/transform and converts it to a world transform, relative to the [Skeleton3D] node.
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This is useful for using the bone transform in calculations with transforms from [Node3D]-based nodes.
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</description>
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</method>
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<method name="clear_bones">
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<return type="void" />
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<description>
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Clear all the bones in this skeleton.
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</description>
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</method>
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<method name="clear_bones_global_pose_override">
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<return type="void" />
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<description>
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Removes the global pose override on all bones in the skeleton.
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</description>
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</method>
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<method name="clear_bones_local_pose_override">
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<return type="void" />
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<description>
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Removes the local pose override on all bones in the skeleton.
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</description>
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</method>
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<method name="execute_modifications">
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<return type="void" />
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<argument index="0" name="delta" type="float" />
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<argument index="1" name="execution_mode" type="int" />
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<description>
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Executes all the modifications on the [SkeletonModificationStack3D], if the Skeleton3D has one assigned.
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</description>
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</method>
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<method name="find_bone" qualifiers="const">
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<return type="int" />
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<argument index="0" name="name" type="String" />
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<description>
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Returns the bone index that matches [code]name[/code] as its name.
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</description>
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</method>
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<method name="force_update_all_bone_transforms">
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<return type="void" />
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<description>
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Force updates the bone transforms/poses for all bones in the skeleton.
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</description>
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</method>
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<method name="force_update_bone_child_transform">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Force updates the bone transform for the bone at [code]bone_idx[/code] and all of its children.
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</description>
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</method>
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<method name="get_bone_children">
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<return type="PackedInt32Array" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns an array containing the bone indexes of all the children node of the passed in bone, [code]bone_idx[/code].
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</description>
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</method>
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<method name="get_bone_count" qualifiers="const">
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<return type="int" />
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<description>
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Returns the amount of bones in the skeleton.
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</description>
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</method>
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<method name="get_bone_custom_pose" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the custom pose of the specified bone. Custom pose is applied on top of the rest pose.
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</description>
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</method>
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<method name="get_bone_global_pose" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the overall transform of the specified bone, with respect to the skeleton. Being relative to the skeleton frame, this is not the actual "global" transform of the bone.
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</description>
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</method>
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<method name="get_bone_global_pose_no_override" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the overall transform of the specified bone, with respect to the skeleton, but without any global pose overrides. Being relative to the skeleton frame, this is not the actual "global" transform of the bone.
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</description>
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</method>
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<method name="get_bone_global_pose_override" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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</description>
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</method>
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<method name="get_bone_local_pose_override" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the local pose override transform for [code]bone_idx[/code].
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</description>
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</method>
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<method name="get_bone_name" qualifiers="const">
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<return type="String" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the name of the bone at index [code]index[/code].
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</description>
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</method>
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<method name="get_bone_parent" qualifiers="const">
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<return type="int" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the bone index which is the parent of the bone at [code]bone_idx[/code]. If -1, then bone has no parent.
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[b]Note:[/b] The parent bone returned will always be less than [code]bone_idx[/code].
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</description>
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</method>
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<method name="get_bone_pose" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the pose transform of the specified bone. Pose is applied on top of the custom pose, which is applied on top the rest pose.
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</description>
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</method>
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<method name="get_bone_rest" qualifiers="const">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns the rest transform for a bone [code]bone_idx[/code].
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</description>
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</method>
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<method name="get_modification_stack">
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<return type="SkeletonModificationStack3D" />
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<description>
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Returns the modification stack attached to this skeleton, if one exists.
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</description>
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</method>
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<method name="get_parentless_bones">
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<return type="PackedInt32Array" />
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<description>
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Returns an array with all of the bones that are parentless. Another way to look at this is that it returns the indexes of all the bones that are not dependent or modified by other bones in the Skeleton.
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</description>
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</method>
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<method name="global_pose_to_local_pose">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="global_pose" type="Transform3D" />
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<description>
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Takes the passed-in global pose and converts it to local pose transform.
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This can be used to easily convert a global pose from [method get_bone_global_pose] to a global transform in [method set_bone_local_pose_override].
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</description>
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</method>
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<method name="global_pose_to_world_transform">
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<return type="Transform3D" />
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<argument index="0" name="global_pose" type="Transform3D" />
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<description>
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Takes the passed-in global pose and converts it to a world transform.
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This can be used to easily convert a global pose from [method get_bone_global_pose] to a global transform usable with a node's transform, like [member Node3D.global_transform] for example.
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</description>
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</method>
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<method name="global_pose_z_forward_to_bone_forward">
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<return type="Basis" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="basis" type="Basis" />
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<description>
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Rotates the given [Basis] so that the forward axis of the Basis is facing in the forward direction of the bone at [code]bone_idx[/code].
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This is helper function to make using [method Transform3D.looking_at] easier with bone poses.
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</description>
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</method>
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<method name="is_bone_rest_disabled" qualifiers="const">
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<return type="bool" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Returns whether the bone rest for the bone at [code]bone_idx[/code] is disabled.
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</description>
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</method>
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<method name="local_pose_to_global_pose">
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<return type="Transform3D" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="local_pose" type="Transform3D" />
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<description>
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Converts the passed-in local pose to a global pose relative to the inputted bone, [code]bone_idx[/code].
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This could be used to convert [method get_bone_pose] for use with the [method set_bone_global_pose_override] function.
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</description>
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</method>
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<method name="localize_rests">
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<return type="void" />
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<description>
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Returns all bones in the skeleton to their rest poses.
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</description>
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</method>
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<method name="physical_bones_add_collision_exception">
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<return type="void" />
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<argument index="0" name="exception" type="RID" />
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<description>
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Adds a collision exception to the physical bone.
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Works just like the [RigidBody3D] node.
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</description>
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</method>
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<method name="physical_bones_remove_collision_exception">
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<return type="void" />
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<argument index="0" name="exception" type="RID" />
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<description>
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Removes a collision exception to the physical bone.
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Works just like the [RigidBody3D] node.
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</description>
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</method>
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<method name="physical_bones_start_simulation">
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<return type="void" />
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<argument index="0" name="bones" type="StringName[]" default="[]" />
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<description>
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Tells the [PhysicalBone3D] nodes in the Skeleton to start simulating and reacting to the physics world.
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Optionally, a list of bone names can be passed-in, allowing only the passed-in bones to be simulated.
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</description>
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</method>
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<method name="physical_bones_stop_simulation">
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<return type="void" />
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<description>
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Tells the [PhysicalBone3D] nodes in the Skeleton to stop simulating.
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</description>
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</method>
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<method name="register_skin">
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<return type="SkinReference" />
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<argument index="0" name="skin" type="Skin" />
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<description>
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Binds the given Skin to the Skeleton.
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</description>
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</method>
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<method name="remove_bone_child">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="child_bone_idx" type="int" />
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<description>
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Removes the passed in child bone index, [code]child_bone_idx[/code], from the passed-in bone, [code]bone_idx[/code], if it exists.
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[b]Note:[/b] This does not remove the child bone, but instead it removes the connection it has to the parent bone.
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</description>
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</method>
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<method name="set_bone_children">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="bone_children" type="PackedInt32Array" />
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<description>
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Sets the children for the passed in bone, [code]bone_idx[/code], to the passed-in array of bone indexes, [code]bone_children[/code].
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</description>
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</method>
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<method name="set_bone_custom_pose">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="custom_pose" type="Transform3D" />
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<description>
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Sets the custom pose transform, [code]custom_pose[/code], for the bone at [code]bone_idx[/code]. This pose is an addition to the bone rest pose.
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[b]Note:[/b] The pose transform needs to be in bone space. Use [method world_transform_to_global_pose] to convert a world transform, like one you can get from a [Node3D], to bone space.
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</description>
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</method>
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<method name="set_bone_disable_rest">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="disable" type="bool" />
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<description>
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Disables the rest pose for the bone at [code]bone_idx[/code] if [code]true[/code], enables the bone rest if [code]false[/code].
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</description>
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</method>
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<method name="set_bone_global_pose_override">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="pose" type="Transform3D" />
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<argument index="2" name="amount" type="float" />
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<argument index="3" name="persistent" type="bool" default="false" />
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<description>
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Sets the global pose transform, [code]pose[/code], for the bone at [code]bone_idx[/code].
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[code]amount[/code] is the interpolation strengh that will be used when applying the pose, and [code]persistent[/code] determines if the applied pose will remain.
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[b]Note:[/b] The pose transform needs to be a global pose! Use [method world_transform_to_global_pose] to convert a world transform, like one you can get from a [Node3D], to a global pose.
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</description>
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</method>
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<method name="set_bone_local_pose_override">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="pose" type="Transform3D" />
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<argument index="2" name="amount" type="float" />
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<argument index="3" name="persistent" type="bool" default="false" />
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<description>
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Sets the local pose transform, [code]pose[/code], for the bone at [code]bone_idx[/code].
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[code]amount[/code] is the interpolation strengh that will be used when applying the pose, and [code]persistent[/code] determines if the applied pose will remain.
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[b]Note:[/b] The pose transform needs to be a local pose! Use [method global_pose_to_local_pose] to convert a global pose to a local pose.
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</description>
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</method>
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<method name="set_bone_name">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="name" type="String" />
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<description>
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</description>
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</method>
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<method name="set_bone_parent">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="parent_idx" type="int" />
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<description>
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Sets the bone index [code]parent_idx[/code] as the parent of the bone at [code]bone_idx[/code]. If -1, then bone has no parent.
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[b]Note:[/b] [code]parent_idx[/code] must be less than [code]bone_idx[/code].
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</description>
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</method>
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<method name="set_bone_pose">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="pose" type="Transform3D" />
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<description>
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Sets the pose transform for bone [code]bone_idx[/code].
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[b]Note:[/b] The pose transform needs to be in bone space. Use [method world_transform_to_global_pose] to convert a world transform, like one you can get from a [Node3D], to bone space.
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</description>
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</method>
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<method name="set_bone_rest">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<argument index="1" name="rest" type="Transform3D" />
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<description>
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Sets the rest transform for bone [code]bone_idx[/code].
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</description>
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</method>
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<method name="set_modification_stack">
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<return type="void" />
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<argument index="0" name="modification_stack" type="SkeletonModificationStack3D" />
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<description>
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Sets the modification stack for this skeleton to the passed-in modification stack, [code]modification_stack[/code].
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</description>
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</method>
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<method name="unparent_bone_and_rest">
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<return type="void" />
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<argument index="0" name="bone_idx" type="int" />
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<description>
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Unparents the bone at [code]bone_idx[/code] and sets its rest position to that of its parent prior to being reset.
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</description>
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</method>
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<method name="world_transform_to_global_pose">
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<return type="Transform3D" />
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<argument index="0" name="world_transform" type="Transform3D" />
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<description>
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Takes the passed-in global transform and converts it to a global pose.
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This can be used to easily convert a global transform from [member Node3D.global_transform] to a global pose usable with [method set_bone_global_pose_override], for example.
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</description>
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</method>
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</methods>
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<members>
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<member name="animate_physical_bones" type="bool" setter="set_animate_physical_bones" getter="get_animate_physical_bones" default="true">
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</member>
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</members>
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<signals>
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<signal name="bone_pose_changed">
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<argument index="0" name="bone_idx" type="int" />
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<description>
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This signal is emitted when one of the bones in the Skeleton3D node have changed their pose. This is used to inform nodes that rely on bone positions that one of the bones in the Skeleton3D have changed their transform/pose.
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</description>
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</signal>
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<signal name="pose_updated">
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<description>
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</description>
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</signal>
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</signals>
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<constants>
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<constant name="NOTIFICATION_UPDATE_SKELETON" value="50">
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</constant>
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</constants>
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</class>
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