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godot/scene/resources/skeleton_modification_2d_twoboneik.cpp

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/**************************************************************************/
/* skeleton_modification_2d_twoboneik.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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_twoboneik.h"
#include "scene/2d/skeleton_2d.h"
#ifdef TOOLS_ENABLED
#include "editor/editor_settings.h"
#endif // TOOLS_ENABLED
bool SkeletonModification2DTwoBoneIK::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
if (path == "joint_one_bone_idx") {
set_joint_one_bone_idx(p_value);
} else if (path == "joint_one_bone2d_node") {
set_joint_one_bone2d_node(p_value);
} else if (path == "joint_two_bone_idx") {
set_joint_two_bone_idx(p_value);
} else if (path == "joint_two_bone2d_node") {
set_joint_two_bone2d_node(p_value);
}
#ifdef TOOLS_ENABLED
else if (path.begins_with("editor/draw_gizmo")) {
set_editor_draw_gizmo(p_value);
} else if (path.begins_with("editor/draw_min_max")) {
set_editor_draw_min_max(p_value);
}
#endif // TOOLS_ENABLED
else {
return false;
}
return true;
}
bool SkeletonModification2DTwoBoneIK::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
if (path == "joint_one_bone_idx") {
r_ret = get_joint_one_bone_idx();
} else if (path == "joint_one_bone2d_node") {
r_ret = get_joint_one_bone2d_node();
} else if (path == "joint_two_bone_idx") {
r_ret = get_joint_two_bone_idx();
} else if (path == "joint_two_bone2d_node") {
r_ret = get_joint_two_bone2d_node();
}
#ifdef TOOLS_ENABLED
else if (path.begins_with("editor/draw_gizmo")) {
r_ret = get_editor_draw_gizmo();
} else if (path.begins_with("editor/draw_min_max")) {
r_ret = get_editor_draw_min_max();
}
#endif // TOOLS_ENABLED
else {
return false;
}
return true;
}
void SkeletonModification2DTwoBoneIK::_get_property_list(List<PropertyInfo> *p_list) const {
p_list->push_back(PropertyInfo(Variant::INT, "joint_one_bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::NODE_PATH, "joint_one_bone2d_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Bone2D", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::INT, "joint_two_bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::NODE_PATH, "joint_two_bone2d_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Bone2D", PROPERTY_USAGE_DEFAULT));
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
p_list->push_back(PropertyInfo(Variant::BOOL, "editor/draw_gizmo", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::BOOL, "editor/draw_min_max", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
}
#endif // TOOLS_ENABLED
}
void SkeletonModification2DTwoBoneIK::_execute(float p_delta) {
ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr,
"Modification is not setup and therefore cannot execute!");
if (!enabled) {
return;
}
if (target_node_cache.is_null()) {
WARN_PRINT_ONCE("Target cache is out of date. Attempting to update...");
update_target_cache();
return;
}
if (joint_one_bone2d_node_cache.is_null() && !joint_one_bone2d_node.is_empty()) {
WARN_PRINT_ONCE("Joint one Bone2D node cache is out of date. Attempting to update...");
update_joint_one_bone2d_cache();
}
if (joint_two_bone2d_node_cache.is_null() && !joint_two_bone2d_node.is_empty()) {
WARN_PRINT_ONCE("Joint two Bone2D node cache is out of date. Attempting to update...");
update_joint_two_bone2d_cache();
}
Node2D *target = Object::cast_to<Node2D>(ObjectDB::get_instance(target_node_cache));
if (!target || !target->is_inside_tree()) {
ERR_PRINT_ONCE("Target node is not in the scene tree. Cannot execute modification!");
return;
}
Bone2D *joint_one_bone = stack->skeleton->get_bone(joint_one_bone_idx);
if (joint_one_bone == nullptr) {
ERR_PRINT_ONCE("Joint one bone_idx does not point to a valid bone! Cannot execute modification!");
return;
}
Bone2D *joint_two_bone = stack->skeleton->get_bone(joint_two_bone_idx);
if (joint_two_bone == nullptr) {
ERR_PRINT_ONCE("Joint two bone_idx does not point to a valid bone! Cannot execute modification!");
return;
}
// Adopted from the links below:
// http://theorangeduck.com/page/simple-two-joint
// https://www.alanzucconi.com/2018/05/02/ik-2d-2/
// With modifications by TwistedTwigleg
Vector2 target_difference = target->get_global_position() - joint_one_bone->get_global_position();
float joint_one_to_target = target_difference.length();
float angle_atan = target_difference.angle();
float bone_one_length = joint_one_bone->get_length() * MIN(joint_one_bone->get_global_scale().x, joint_one_bone->get_global_scale().y);
float bone_two_length = joint_two_bone->get_length() * MIN(joint_two_bone->get_global_scale().x, joint_two_bone->get_global_scale().y);
bool override_angles_due_to_out_of_range = false;
if (joint_one_to_target < target_minimum_distance) {
joint_one_to_target = target_minimum_distance;
}
if (joint_one_to_target > target_maximum_distance && target_maximum_distance > 0.0) {
joint_one_to_target = target_maximum_distance;
}
if (bone_one_length + bone_two_length < joint_one_to_target) {
override_angles_due_to_out_of_range = true;
}
if (!override_angles_due_to_out_of_range) {
float angle_0 = Math::acos(((joint_one_to_target * joint_one_to_target) + (bone_one_length * bone_one_length) - (bone_two_length * bone_two_length)) / (2.0 * joint_one_to_target * bone_one_length));
float angle_1 = Math::acos(((bone_two_length * bone_two_length) + (bone_one_length * bone_one_length) - (joint_one_to_target * joint_one_to_target)) / (2.0 * bone_two_length * bone_one_length));
if (flip_bend_direction) {
angle_0 = -angle_0;
angle_1 = -angle_1;
}
if (isnan(angle_0) || isnan(angle_1)) {
// We cannot solve for this angle! Do nothing to avoid setting the rotation (and scale) to NaN.
} else {
joint_one_bone->set_global_rotation(angle_atan - angle_0 - joint_one_bone->get_bone_angle());
joint_two_bone->set_rotation(-Math_PI - angle_1 - joint_two_bone->get_bone_angle() + joint_one_bone->get_bone_angle());
}
} else {
joint_one_bone->set_global_rotation(angle_atan - joint_one_bone->get_bone_angle());
joint_two_bone->set_global_rotation(angle_atan - joint_two_bone->get_bone_angle());
}
stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, joint_one_bone->get_transform(), stack->strength, true);
stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, joint_two_bone->get_transform(), stack->strength, true);
}
void SkeletonModification2DTwoBoneIK::_setup_modification(SkeletonModificationStack2D *p_stack) {
stack = p_stack;
if (stack) {
is_setup = true;
update_target_cache();
update_joint_one_bone2d_cache();
update_joint_two_bone2d_cache();
}
}
void SkeletonModification2DTwoBoneIK::_draw_editor_gizmo() {
if (!enabled || !is_setup) {
return;
}
Bone2D *operation_bone_one = stack->skeleton->get_bone(joint_one_bone_idx);
if (!operation_bone_one) {
return;
}
stack->skeleton->draw_set_transform(
stack->skeleton->to_local(operation_bone_one->get_global_position()),
operation_bone_one->get_global_rotation() - stack->skeleton->get_global_rotation());
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 = EDITOR_GET("editors/2d/bone_ik_color");
}
#endif // TOOLS_ENABLED
if (flip_bend_direction) {
float angle = -(Math_PI * 0.5) + operation_bone_one->get_bone_angle();
stack->skeleton->draw_line(Vector2(0, 0), Vector2(Math::cos(angle), sin(angle)) * (operation_bone_one->get_length() * 0.5), bone_ik_color, 2.0);
} else {
float angle = (Math_PI * 0.5) + operation_bone_one->get_bone_angle();
stack->skeleton->draw_line(Vector2(0, 0), Vector2(Math::cos(angle), sin(angle)) * (operation_bone_one->get_length() * 0.5), bone_ik_color, 2.0);
}
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
if (editor_draw_min_max) {
if (target_maximum_distance != 0.0 || target_minimum_distance != 0.0) {
Vector2 target_direction = Vector2(0, 1);
if (target_node_cache.is_valid()) {
stack->skeleton->draw_set_transform(Vector2(0, 0), 0.0);
Node2D *target = Object::cast_to<Node2D>(ObjectDB::get_instance(target_node_cache));
target_direction = operation_bone_one->get_global_position().direction_to(target->get_global_position());
}
stack->skeleton->draw_circle(target_direction * target_minimum_distance, 8, bone_ik_color);
stack->skeleton->draw_circle(target_direction * target_maximum_distance, 8, bone_ik_color);
stack->skeleton->draw_line(target_direction * target_minimum_distance, target_direction * target_maximum_distance, bone_ik_color, 2.0);
}
}
}
#endif // TOOLS_ENABLED
}
void SkeletonModification2DTwoBoneIK::update_target_cache() {
if (!is_setup || !stack) {
ERR_PRINT_ONCE("Cannot update target cache: modification is not properly setup!");
return;
}
target_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(target_node)) {
Node *node = stack->skeleton->get_node(target_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update target cache: node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update target cache: node is not in the scene tree!");
target_node_cache = node->get_instance_id();
}
}
}
}
void SkeletonModification2DTwoBoneIK::update_joint_one_bone2d_cache() {
if (!is_setup || !stack) {
ERR_PRINT_ONCE("Cannot update joint one Bone2D cache: modification is not properly setup!");
return;
}
joint_one_bone2d_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(joint_one_bone2d_node)) {
Node *node = stack->skeleton->get_node(joint_one_bone2d_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update joint one Bone2D cache: node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update joint one Bone2D cache: node is not in the scene tree!");
joint_one_bone2d_node_cache = node->get_instance_id();
Bone2D *bone = Object::cast_to<Bone2D>(node);
if (bone) {
joint_one_bone_idx = bone->get_index_in_skeleton();
} else {
ERR_FAIL_MSG("Update joint one Bone2D cache: Nodepath to Bone2D is not a Bone2D node!");
}
}
}
}
}
void SkeletonModification2DTwoBoneIK::update_joint_two_bone2d_cache() {
if (!is_setup || !stack) {
ERR_PRINT_ONCE("Cannot update joint two Bone2D cache: modification is not properly setup!");
return;
}
joint_two_bone2d_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(joint_two_bone2d_node)) {
Node *node = stack->skeleton->get_node(joint_two_bone2d_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update joint two Bone2D cache: node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update joint two Bone2D cache: node is not in scene tree!");
joint_two_bone2d_node_cache = node->get_instance_id();
Bone2D *bone = Object::cast_to<Bone2D>(node);
if (bone) {
joint_two_bone_idx = bone->get_index_in_skeleton();
} else {
ERR_FAIL_MSG("Update joint two Bone2D cache: Nodepath to Bone2D is not a Bone2D node!");
}
}
}
}
}
void SkeletonModification2DTwoBoneIK::set_target_node(const NodePath &p_target_node) {
target_node = p_target_node;
update_target_cache();
}
NodePath SkeletonModification2DTwoBoneIK::get_target_node() const {
return target_node;
}
void SkeletonModification2DTwoBoneIK::set_joint_one_bone2d_node(const NodePath &p_target_node) {
joint_one_bone2d_node = p_target_node;
update_joint_one_bone2d_cache();
notify_property_list_changed();
}
void SkeletonModification2DTwoBoneIK::set_target_minimum_distance(float p_distance) {
ERR_FAIL_COND_MSG(p_distance < 0, "Target minimum distance cannot be less than zero!");
target_minimum_distance = p_distance;
}
float SkeletonModification2DTwoBoneIK::get_target_minimum_distance() const {
return target_minimum_distance;
}
void SkeletonModification2DTwoBoneIK::set_target_maximum_distance(float p_distance) {
ERR_FAIL_COND_MSG(p_distance < 0, "Target maximum distance cannot be less than zero!");
target_maximum_distance = p_distance;
}
float SkeletonModification2DTwoBoneIK::get_target_maximum_distance() const {
return target_maximum_distance;
}
void SkeletonModification2DTwoBoneIK::set_flip_bend_direction(bool p_flip_direction) {
flip_bend_direction = p_flip_direction;
#ifdef TOOLS_ENABLED
if (stack && is_setup) {
stack->set_editor_gizmos_dirty(true);
}
#endif // TOOLS_ENABLED
}
bool SkeletonModification2DTwoBoneIK::get_flip_bend_direction() const {
return flip_bend_direction;
}
NodePath SkeletonModification2DTwoBoneIK::get_joint_one_bone2d_node() const {
return joint_one_bone2d_node;
}
void SkeletonModification2DTwoBoneIK::set_joint_two_bone2d_node(const NodePath &p_target_node) {
joint_two_bone2d_node = p_target_node;
update_joint_two_bone2d_cache();
notify_property_list_changed();
}
NodePath SkeletonModification2DTwoBoneIK::get_joint_two_bone2d_node() const {
return joint_two_bone2d_node;
}
void SkeletonModification2DTwoBoneIK::set_joint_one_bone_idx(int p_bone_idx) {
ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
if (is_setup) {
if (stack->skeleton) {
ERR_FAIL_INDEX_MSG(p_bone_idx, stack->skeleton->get_bone_count(), "Passed-in Bone index is out of range!");
joint_one_bone_idx = p_bone_idx;
joint_one_bone2d_node_cache = stack->skeleton->get_bone(p_bone_idx)->get_instance_id();
joint_one_bone2d_node = stack->skeleton->get_path_to(stack->skeleton->get_bone(p_bone_idx));
} else {
WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint one...");
joint_one_bone_idx = p_bone_idx;
}
} else {
WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint one...");
joint_one_bone_idx = p_bone_idx;
}
notify_property_list_changed();
}
int SkeletonModification2DTwoBoneIK::get_joint_one_bone_idx() const {
return joint_one_bone_idx;
}
void SkeletonModification2DTwoBoneIK::set_joint_two_bone_idx(int p_bone_idx) {
ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
if (is_setup) {
if (stack->skeleton) {
ERR_FAIL_INDEX_MSG(p_bone_idx, stack->skeleton->get_bone_count(), "Passed-in Bone index is out of range!");
joint_two_bone_idx = p_bone_idx;
joint_two_bone2d_node_cache = stack->skeleton->get_bone(p_bone_idx)->get_instance_id();
joint_two_bone2d_node = stack->skeleton->get_path_to(stack->skeleton->get_bone(p_bone_idx));
} else {
WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint two...");
joint_two_bone_idx = p_bone_idx;
}
} else {
WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint two...");
joint_two_bone_idx = p_bone_idx;
}
notify_property_list_changed();
}
int SkeletonModification2DTwoBoneIK::get_joint_two_bone_idx() const {
return joint_two_bone_idx;
}
#ifdef TOOLS_ENABLED
void SkeletonModification2DTwoBoneIK::set_editor_draw_min_max(bool p_draw) {
editor_draw_min_max = p_draw;
}
bool SkeletonModification2DTwoBoneIK::get_editor_draw_min_max() const {
return editor_draw_min_max;
}
#endif // TOOLS_ENABLED
void SkeletonModification2DTwoBoneIK::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification2DTwoBoneIK::set_target_node);
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification2DTwoBoneIK::get_target_node);
ClassDB::bind_method(D_METHOD("set_target_minimum_distance", "minimum_distance"), &SkeletonModification2DTwoBoneIK::set_target_minimum_distance);
ClassDB::bind_method(D_METHOD("get_target_minimum_distance"), &SkeletonModification2DTwoBoneIK::get_target_minimum_distance);
ClassDB::bind_method(D_METHOD("set_target_maximum_distance", "maximum_distance"), &SkeletonModification2DTwoBoneIK::set_target_maximum_distance);
ClassDB::bind_method(D_METHOD("get_target_maximum_distance"), &SkeletonModification2DTwoBoneIK::get_target_maximum_distance);
ClassDB::bind_method(D_METHOD("set_flip_bend_direction", "flip_direction"), &SkeletonModification2DTwoBoneIK::set_flip_bend_direction);
ClassDB::bind_method(D_METHOD("get_flip_bend_direction"), &SkeletonModification2DTwoBoneIK::get_flip_bend_direction);
ClassDB::bind_method(D_METHOD("set_joint_one_bone2d_node", "bone2d_node"), &SkeletonModification2DTwoBoneIK::set_joint_one_bone2d_node);
ClassDB::bind_method(D_METHOD("get_joint_one_bone2d_node"), &SkeletonModification2DTwoBoneIK::get_joint_one_bone2d_node);
ClassDB::bind_method(D_METHOD("set_joint_one_bone_idx", "bone_idx"), &SkeletonModification2DTwoBoneIK::set_joint_one_bone_idx);
ClassDB::bind_method(D_METHOD("get_joint_one_bone_idx"), &SkeletonModification2DTwoBoneIK::get_joint_one_bone_idx);
ClassDB::bind_method(D_METHOD("set_joint_two_bone2d_node", "bone2d_node"), &SkeletonModification2DTwoBoneIK::set_joint_two_bone2d_node);
ClassDB::bind_method(D_METHOD("get_joint_two_bone2d_node"), &SkeletonModification2DTwoBoneIK::get_joint_two_bone2d_node);
ClassDB::bind_method(D_METHOD("set_joint_two_bone_idx", "bone_idx"), &SkeletonModification2DTwoBoneIK::set_joint_two_bone_idx);
ClassDB::bind_method(D_METHOD("get_joint_two_bone_idx"), &SkeletonModification2DTwoBoneIK::get_joint_two_bone_idx);
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node2D"), "set_target_node", "get_target_node");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_minimum_distance", PROPERTY_HINT_RANGE, "0,100000000,0.01,suffix:px"), "set_target_minimum_distance", "get_target_minimum_distance");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_maximum_distance", PROPERTY_HINT_NONE, "0,100000000,0.01,suffix:px"), "set_target_maximum_distance", "get_target_maximum_distance");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "flip_bend_direction", PROPERTY_HINT_NONE, ""), "set_flip_bend_direction", "get_flip_bend_direction");
ADD_GROUP("", "");
}
SkeletonModification2DTwoBoneIK::SkeletonModification2DTwoBoneIK() {
stack = nullptr;
is_setup = false;
enabled = true;
editor_draw_gizmo = true;
}
SkeletonModification2DTwoBoneIK::~SkeletonModification2DTwoBoneIK() {
}
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