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
123 lines
5.3 KiB
C++
123 lines
5.3 KiB
C++
/*************************************************************************/
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/* skeleton_modification_3d_fabrik.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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#include "core/templates/local_vector.h"
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#include "scene/3d/skeleton_3d.h"
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#include "scene/resources/skeleton_modification_3d.h"
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#ifndef SKELETONMODIFICATION3DFABRIK_H
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#define SKELETONMODIFICATION3DFABRIK_H
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class SkeletonModification3DFABRIK : public SkeletonModification3D {
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GDCLASS(SkeletonModification3DFABRIK, SkeletonModification3D);
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private:
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struct FABRIK_Joint_Data {
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String bone_name = "";
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int bone_idx = -1;
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real_t length = -1;
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Vector3 magnet_position = Vector3(0, 0, 0);
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bool auto_calculate_length = true;
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bool use_tip_node = false;
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NodePath tip_node = NodePath();
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ObjectID tip_node_cache;
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bool use_target_basis = false;
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real_t roll = 0;
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};
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LocalVector<FABRIK_Joint_Data> fabrik_data_chain;
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NodePath target_node;
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ObjectID target_node_cache;
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real_t chain_tolerance = 0.01;
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int chain_max_iterations = 10;
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int chain_iterations = 0;
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void update_target_cache();
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void update_joint_tip_cache(int p_joint_idx);
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int final_joint_idx = 0;
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Transform3D target_global_pose = Transform3D();
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Transform3D origin_global_pose = Transform3D();
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void chain_backwards();
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void chain_forwards();
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void chain_apply();
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protected:
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static void _bind_methods();
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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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public:
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virtual void _execute(real_t p_delta) override;
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virtual void _setup_modification(SkeletonModificationStack3D *p_stack) override;
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void set_target_node(const NodePath &p_target_node);
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NodePath get_target_node() const;
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int get_fabrik_data_chain_length();
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void set_fabrik_data_chain_length(int p_new_length);
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real_t get_chain_tolerance();
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void set_chain_tolerance(real_t p_tolerance);
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int get_chain_max_iterations();
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void set_chain_max_iterations(int p_iterations);
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String get_fabrik_joint_bone_name(int p_joint_idx) const;
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void set_fabrik_joint_bone_name(int p_joint_idx, String p_bone_name);
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int get_fabrik_joint_bone_index(int p_joint_idx) const;
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void set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx);
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real_t get_fabrik_joint_length(int p_joint_idx) const;
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void set_fabrik_joint_length(int p_joint_idx, real_t p_bone_length);
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Vector3 get_fabrik_joint_magnet(int p_joint_idx) const;
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void set_fabrik_joint_magnet(int p_joint_idx, Vector3 p_magnet);
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bool get_fabrik_joint_auto_calculate_length(int p_joint_idx) const;
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void set_fabrik_joint_auto_calculate_length(int p_joint_idx, bool p_auto_calculate);
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void fabrik_joint_auto_calculate_length(int p_joint_idx);
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bool get_fabrik_joint_use_tip_node(int p_joint_idx) const;
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void set_fabrik_joint_use_tip_node(int p_joint_idx, bool p_use_tip_node);
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NodePath get_fabrik_joint_tip_node(int p_joint_idx) const;
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void set_fabrik_joint_tip_node(int p_joint_idx, NodePath p_tip_node);
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bool get_fabrik_joint_use_target_basis(int p_joint_idx) const;
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void set_fabrik_joint_use_target_basis(int p_joint_idx, bool p_use_basis);
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real_t get_fabrik_joint_roll(int p_joint_idx) const;
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void set_fabrik_joint_roll(int p_joint_idx, real_t p_roll);
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SkeletonModification3DFABRIK();
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~SkeletonModification3DFABRIK();
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};
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#endif //SKELETONMODIFICATION3DFABRIK_H
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