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godot/scene/resources/skeleton_modification_2d.cpp
TwistedTwigleg 8aa3c2f091 New and improved IK system for Skeleton2D 
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.

This work was sponsored by GSoC 2020 and TwistedTwigleg.

Full list of changes:
* Adds a SkeletonModifier2D resource
  * This resource is the base where all IK code is written and executed
  * Has a function for clamping angles, since it is so commonly used
  * Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
  * This resource manages a series of SkeletonModification2Ds
  * This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
  * Each modification is in its own file
  * There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
  * Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
  * Skeleton2D now holds a single SkeletonModificationStack2D for IK
  * Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
  * The default_length property has been changed to length. Length is the length of the bone to its child bone node
  * New bone_angle property, which is the angle the bone has to its first child bone node
  * Bone2D caches its transform when not modified by IK for IK interpolation purposes
  * Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
  * Bone2D gizmo drawing code removed
  * The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
  * These notifications only are called in the editor right before and after saving a scene
  * Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2021-06-05 15:19:51 -04:00

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/*************************************************************************/
/* skeleton_modification_2d.cpp */
/*************************************************************************/
/* 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. */
/*************************************************************************/
#include "skeleton_modification_2d.h"
#include "scene/2d/skeleton_2d.h"
#include "scene/2d/collision_object_2d.h"
#include "scene/2d/collision_shape_2d.h"
#include "scene/2d/physical_bone_2d.h"
#ifdef TOOLS_ENABLED
#include "editor/editor_settings.h"
#endif // TOOLS_ENABLED
///////////////////////////////////////
// Modification2D
///////////////////////////////////////
void SkeletonModification2D::_execute(float p_delta) {
call("_execute", p_delta);
if (!enabled) {
return;
}
}
void SkeletonModification2D::_setup_modification(SkeletonModificationStack2D *p_stack) {
stack = p_stack;
if (stack) {
is_setup = true;
} else {
WARN_PRINT("Could not setup modification with name " + get_name());
}
call("_setup_modification", p_stack);
}
void SkeletonModification2D::_draw_editor_gizmo() {
call("_draw_editor_gizmo");
}
void SkeletonModification2D::set_enabled(bool p_enabled) {
enabled = p_enabled;
#ifdef TOOLS_ENABLED
if (editor_draw_gizmo) {
if (stack) {
stack->set_editor_gizmos_dirty(true);
}
}
#endif // TOOLS_ENABLED
}
bool SkeletonModification2D::get_enabled() {
return enabled;
}
float SkeletonModification2D::clamp_angle(float p_angle, float p_min_bound, float p_max_bound, bool p_invert) {
// Map to the 0 to 360 range (in radians though) instead of the -180 to 180 range.
if (p_angle < 0) {
p_angle = Math_TAU + p_angle;
}
// Make min and max in the range of 0 to 360 (in radians), and make sure they are in the right order
if (p_min_bound < 0) {
p_min_bound = Math_TAU + p_min_bound;
}
if (p_max_bound < 0) {
p_max_bound = Math_TAU + p_max_bound;
}
if (p_min_bound > p_max_bound) {
float tmp = p_min_bound;
p_min_bound = p_max_bound;
p_max_bound = tmp;
}
// Note: May not be the most optimal way to clamp, but it always constraints to the nearest angle.
if (p_invert == false) {
if (p_angle < p_min_bound || p_angle > p_max_bound) {
Vector2 min_bound_vec = Vector2(Math::cos(p_min_bound), Math::sin(p_min_bound));
Vector2 max_bound_vec = Vector2(Math::cos(p_max_bound), Math::sin(p_max_bound));
Vector2 angle_vec = Vector2(Math::cos(p_angle), Math::sin(p_angle));
if (angle_vec.distance_squared_to(min_bound_vec) <= angle_vec.distance_squared_to(max_bound_vec)) {
p_angle = p_min_bound;
} else {
p_angle = p_max_bound;
}
}
} else {
if (p_angle > p_min_bound && p_angle < p_max_bound) {
Vector2 min_bound_vec = Vector2(Math::cos(p_min_bound), Math::sin(p_min_bound));
Vector2 max_bound_vec = Vector2(Math::cos(p_max_bound), Math::sin(p_max_bound));
Vector2 angle_vec = Vector2(Math::cos(p_angle), Math::sin(p_angle));
if (angle_vec.distance_squared_to(min_bound_vec) <= angle_vec.distance_squared_to(max_bound_vec)) {
p_angle = p_min_bound;
} else {
p_angle = p_max_bound;
}
}
}
return p_angle;
}
void SkeletonModification2D::editor_draw_angle_constraints(Bone2D *p_operation_bone, float p_min_bound, float p_max_bound,
bool p_constraint_enabled, bool p_constraint_in_localspace, bool p_constraint_inverted) {
if (!p_operation_bone) {
return;
}
Color bone_ik_color = Color(1.0, 0.65, 0.0, 0.4);
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
bone_ik_color = EditorSettings::get_singleton()->get("editors/2d/bone_ik_color");
}
#endif // TOOLS_ENABLED
float arc_angle_min = p_min_bound;
float arc_angle_max = p_max_bound;
if (arc_angle_min < 0) {
arc_angle_min = (Math_PI * 2) + arc_angle_min;
}
if (arc_angle_max < 0) {
arc_angle_max = (Math_PI * 2) + arc_angle_max;
}
if (arc_angle_min > arc_angle_max) {
float tmp = arc_angle_min;
arc_angle_min = arc_angle_max;
arc_angle_max = tmp;
}
arc_angle_min += p_operation_bone->get_bone_angle();
arc_angle_max += p_operation_bone->get_bone_angle();
if (p_constraint_enabled) {
if (p_constraint_in_localspace) {
Node *operation_bone_parent = p_operation_bone->get_parent();
Bone2D *operation_bone_parent_bone = Object::cast_to<Bone2D>(operation_bone_parent);
if (operation_bone_parent_bone) {
stack->skeleton->draw_set_transform(
stack->skeleton->get_global_transform().affine_inverse().xform(p_operation_bone->get_global_position()),
operation_bone_parent_bone->get_global_rotation() - stack->skeleton->get_global_rotation());
} else {
stack->skeleton->draw_set_transform(stack->skeleton->get_global_transform().affine_inverse().xform(p_operation_bone->get_global_position()));
}
} else {
stack->skeleton->draw_set_transform(stack->skeleton->get_global_transform().affine_inverse().xform(p_operation_bone->get_global_position()));
}
if (p_constraint_inverted) {
stack->skeleton->draw_arc(Vector2(0, 0), p_operation_bone->get_length(),
arc_angle_min + (Math_PI * 2), arc_angle_max, 32, bone_ik_color, 1.0);
} else {
stack->skeleton->draw_arc(Vector2(0, 0), p_operation_bone->get_length(),
arc_angle_min, arc_angle_max, 32, bone_ik_color, 1.0);
}
stack->skeleton->draw_line(Vector2(0, 0), Vector2(Math::cos(arc_angle_min), Math::sin(arc_angle_min)) * p_operation_bone->get_length(), bone_ik_color, 1.0);
stack->skeleton->draw_line(Vector2(0, 0), Vector2(Math::cos(arc_angle_max), Math::sin(arc_angle_max)) * p_operation_bone->get_length(), bone_ik_color, 1.0);
} else {
stack->skeleton->draw_set_transform(stack->skeleton->get_global_transform().affine_inverse().xform(p_operation_bone->get_global_position()));
stack->skeleton->draw_arc(Vector2(0, 0), p_operation_bone->get_length(), 0, Math_PI * 2, 32, bone_ik_color, 1.0);
stack->skeleton->draw_line(Vector2(0, 0), Vector2(1, 0) * p_operation_bone->get_length(), bone_ik_color, 1.0);
}
}
Ref<SkeletonModificationStack2D> SkeletonModification2D::get_modification_stack() {
return stack;
}
void SkeletonModification2D::set_is_setup(bool p_setup) {
is_setup = p_setup;
}
bool SkeletonModification2D::get_is_setup() const {
return is_setup;
}
void SkeletonModification2D::set_execution_mode(int p_mode) {
execution_mode = p_mode;
}
int SkeletonModification2D::get_execution_mode() const {
return execution_mode;
}
void SkeletonModification2D::set_editor_draw_gizmo(bool p_draw_gizmo) {
editor_draw_gizmo = p_draw_gizmo;
#ifdef TOOLS_ENABLED
if (is_setup) {
stack->set_editor_gizmos_dirty(true);
}
#endif // TOOLS_ENABLED
}
bool SkeletonModification2D::get_editor_draw_gizmo() const {
return editor_draw_gizmo;
}
void SkeletonModification2D::_bind_methods() {
BIND_VMETHOD(MethodInfo("_execute", PropertyInfo(Variant::FLOAT, "delta")));
BIND_VMETHOD(MethodInfo("_setup_modification", PropertyInfo(Variant::OBJECT, "modification_stack", PROPERTY_HINT_RESOURCE_TYPE, "SkeletonModificationStack2D")));
BIND_VMETHOD(MethodInfo("_draw_editor_gizmo"));
ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &SkeletonModification2D::set_enabled);
ClassDB::bind_method(D_METHOD("get_enabled"), &SkeletonModification2D::get_enabled);
ClassDB::bind_method(D_METHOD("get_modification_stack"), &SkeletonModification2D::get_modification_stack);
ClassDB::bind_method(D_METHOD("set_is_setup", "is_setup"), &SkeletonModification2D::set_is_setup);
ClassDB::bind_method(D_METHOD("get_is_setup"), &SkeletonModification2D::get_is_setup);
ClassDB::bind_method(D_METHOD("set_execution_mode", "execution_mode"), &SkeletonModification2D::set_execution_mode);
ClassDB::bind_method(D_METHOD("get_execution_mode"), &SkeletonModification2D::get_execution_mode);
ClassDB::bind_method(D_METHOD("clamp_angle", "angle", "min", "max", "invert"), &SkeletonModification2D::clamp_angle);
ClassDB::bind_method(D_METHOD("set_editor_draw_gizmo", "draw_gizmo"), &SkeletonModification2D::set_editor_draw_gizmo);
ClassDB::bind_method(D_METHOD("get_editor_draw_gizmo"), &SkeletonModification2D::get_editor_draw_gizmo);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "get_enabled");
ADD_PROPERTY(PropertyInfo(Variant::INT, "execution_mode", PROPERTY_HINT_ENUM, "process, physics_process"), "set_execution_mode", "get_execution_mode");
}
SkeletonModification2D::SkeletonModification2D() {
stack = nullptr;
is_setup = false;
}
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