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
273 lines
8.9 KiB
C++
273 lines
8.9 KiB
C++
/*************************************************************************/
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/* skeleton_3d.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef SKELETON_3D_H
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#define SKELETON_3D_H
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#include "scene/3d/node_3d.h"
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#include "scene/resources/skeleton_modification_3d.h"
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#include "scene/resources/skin.h"
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typedef int BoneId;
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class PhysicalBone3D;
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class Skeleton3D;
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class SkinReference : public RefCounted {
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GDCLASS(SkinReference, RefCounted)
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friend class Skeleton3D;
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Skeleton3D *skeleton_node;
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RID skeleton;
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Ref<Skin> skin;
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uint32_t bind_count = 0;
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uint64_t skeleton_version = 0;
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Vector<uint32_t> skin_bone_indices;
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uint32_t *skin_bone_indices_ptrs;
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void _skin_changed();
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protected:
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static void _bind_methods();
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public:
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RID get_skeleton() const;
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Ref<Skin> get_skin() const;
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~SkinReference();
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};
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class SkeletonModificationStack3D;
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class Skeleton3D : public Node3D {
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GDCLASS(Skeleton3D, Node3D);
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private:
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friend class SkinReference;
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struct Bone {
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String name;
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bool enabled;
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int parent;
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bool disable_rest = false;
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Transform3D rest;
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Transform3D pose;
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Transform3D pose_global;
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Transform3D pose_global_no_override;
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bool custom_pose_enable = false;
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Transform3D custom_pose;
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real_t global_pose_override_amount = 0.0;
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bool global_pose_override_reset = false;
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Transform3D global_pose_override;
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PhysicalBone3D *physical_bone = nullptr;
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PhysicalBone3D *cache_parent_physical_bone = nullptr;
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real_t local_pose_override_amount;
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bool local_pose_override_reset;
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Transform3D local_pose_override;
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Vector<int> child_bones;
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// The forward direction vector and rest bone forward axis are cached because they do not change
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// 99% of the time, but recalculating them can be expensive on models with many bones.
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Vector3 rest_bone_forward_vector;
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int rest_bone_forward_axis = -1;
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Bone() {
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parent = -1;
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enabled = true;
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disable_rest = false;
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custom_pose_enable = false;
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global_pose_override_amount = 0;
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global_pose_override_reset = false;
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#ifndef _3D_DISABLED
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physical_bone = nullptr;
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cache_parent_physical_bone = nullptr;
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#endif // _3D_DISABLED
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local_pose_override_amount = 0;
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local_pose_override_reset = false;
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child_bones = Vector<int>();
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rest_bone_forward_vector = Vector3(0, 0, 0);
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rest_bone_forward_axis = -1;
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}
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};
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Set<SkinReference *> skin_bindings;
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void _skin_changed();
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bool animate_physical_bones = true;
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Vector<Bone> bones;
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bool process_order_dirty;
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Vector<int> parentless_bones;
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void _make_dirty();
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bool dirty = false;
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uint64_t version = 1;
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void _update_process_order();
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protected:
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bool _get(const StringName &p_path, Variant &r_ret) const;
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bool _set(const StringName &p_path, const Variant &p_value);
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void _get_property_list(List<PropertyInfo> *p_list) const;
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void _notification(int p_what);
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static void _bind_methods();
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#ifndef _3D_DISABLED
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Ref<SkeletonModificationStack3D> modification_stack;
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#endif // _3D_DISABLED
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public:
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enum Bone_Forward_Axis {
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BONE_AXIS_X_FORWARD = 0,
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BONE_AXIS_Y_FORWARD = 1,
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BONE_AXIS_Z_FORWARD = 2,
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BONE_AXIS_NEGATIVE_X_FORWARD = 3,
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BONE_AXIS_NEGATIVE_Y_FORWARD = 4,
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BONE_AXIS_NEGATIVE_Z_FORWARD = 5,
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};
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enum {
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NOTIFICATION_UPDATE_SKELETON = 50
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};
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// skeleton creation api
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void add_bone(const String &p_name);
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int find_bone(const String &p_name) const;
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String get_bone_name(int p_bone) const;
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void set_bone_name(int p_bone, const String &p_name);
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bool is_bone_parent_of(int p_bone_id, int p_parent_bone_id) const;
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void set_bone_parent(int p_bone, int p_parent);
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int get_bone_parent(int p_bone) const;
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void unparent_bone_and_rest(int p_bone);
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Vector<int> get_bone_children(int p_bone);
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void set_bone_children(int p_bone, Vector<int> p_children);
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void add_bone_child(int p_bone, int p_child);
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void remove_bone_child(int p_bone, int p_child);
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Vector<int> get_parentless_bones();
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void set_bone_disable_rest(int p_bone, bool p_disable);
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bool is_bone_rest_disabled(int p_bone) const;
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int get_bone_count() const;
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void set_bone_rest(int p_bone, const Transform3D &p_rest);
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Transform3D get_bone_rest(int p_bone) const;
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Transform3D get_bone_global_pose(int p_bone) const;
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Transform3D get_bone_global_pose_no_override(int p_bone) const;
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void set_bone_enabled(int p_bone, bool p_enabled);
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bool is_bone_enabled(int p_bone) const;
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void clear_bones();
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// posing api
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void set_bone_pose(int p_bone, const Transform3D &p_pose);
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Transform3D get_bone_pose(int p_bone) const;
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void set_bone_custom_pose(int p_bone, const Transform3D &p_custom_pose);
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Transform3D get_bone_custom_pose(int p_bone) const;
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void clear_bones_global_pose_override();
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Transform3D get_bone_global_pose_override(int p_bone) const;
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void set_bone_global_pose_override(int p_bone, const Transform3D &p_pose, real_t p_amount, bool p_persistent = false);
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void clear_bones_local_pose_override();
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Transform3D get_bone_local_pose_override(int p_bone) const;
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void set_bone_local_pose_override(int p_bone, const Transform3D &p_pose, real_t p_amount, bool p_persistent = false);
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void localize_rests(); // used for loaders and tools
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Ref<SkinReference> register_skin(const Ref<Skin> &p_skin);
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void force_update_all_bone_transforms();
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void force_update_bone_children_transforms(int bone_idx);
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void update_bone_rest_forward_vector(int p_bone, bool p_force_update = false);
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void update_bone_rest_forward_axis(int p_bone, bool p_force_update = false);
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Vector3 get_bone_axis_forward_vector(int p_bone);
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int get_bone_axis_forward_enum(int p_bone);
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// Helper functions
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Transform3D global_pose_to_world_transform(Transform3D p_global_pose);
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Transform3D world_transform_to_global_pose(Transform3D p_transform);
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Transform3D global_pose_to_local_pose(int p_bone_idx, Transform3D p_global_pose);
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Transform3D local_pose_to_global_pose(int p_bone_idx, Transform3D p_local_pose);
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Basis global_pose_z_forward_to_bone_forward(int p_bone_idx, Basis p_basis);
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// Modifications
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#ifndef _3D_DISABLED
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Ref<SkeletonModificationStack3D> get_modification_stack();
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void set_modification_stack(Ref<SkeletonModificationStack3D> p_stack);
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void execute_modifications(real_t p_delta, int p_execution_mode);
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#endif // _3D_DISABLED
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// Physical bone API
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void set_animate_physical_bones(bool p_animate);
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bool get_animate_physical_bones() const;
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void bind_physical_bone_to_bone(int p_bone, PhysicalBone3D *p_physical_bone);
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void unbind_physical_bone_from_bone(int p_bone);
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PhysicalBone3D *get_physical_bone(int p_bone);
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PhysicalBone3D *get_physical_bone_parent(int p_bone);
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private:
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/// This is a slow API, so it's cached
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PhysicalBone3D *_get_physical_bone_parent(int p_bone);
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void _rebuild_physical_bones_cache();
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public:
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void physical_bones_stop_simulation();
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void physical_bones_start_simulation_on(const TypedArray<StringName> &p_bones);
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void physical_bones_add_collision_exception(RID p_exception);
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void physical_bones_remove_collision_exception(RID p_exception);
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public:
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Skeleton3D();
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~Skeleton3D();
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};
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#endif
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