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godot/scene/resources/skeleton_modification_2d_fabrik.cpp

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One Copyright Update to rule them all As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
2023-01-05 12:25:55 +00:00
/**************************************************************************/
/* skeleton_modification_2d_fabrik.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. */
/**************************************************************************/
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.
2020-08-03 18:02:24 +00:00
#include "skeleton_modification_2d_fabrik.h"
#include "scene/2d/skeleton_2d.h"
#ifdef TOOLS_ENABLED
#include "editor/editor_settings.h"
#endif // TOOLS_ENABLED
bool SkeletonModification2DFABRIK::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
if (path.begins_with("joint_data/")) {
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, fabrik_data_chain.size(), false);
if (what == "bone2d_node") {
set_fabrik_joint_bone2d_node(which, p_value);
} else if (what == "bone_index") {
set_fabrik_joint_bone_index(which, p_value);
} else if (what == "magnet_position") {
set_fabrik_joint_magnet_position(which, p_value);
} else if (what == "use_target_rotation") {
set_fabrik_joint_use_target_rotation(which, p_value);
}
}
return true;
}
bool SkeletonModification2DFABRIK::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
if (path.begins_with("joint_data/")) {
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, fabrik_data_chain.size(), false);
if (what == "bone2d_node") {
r_ret = get_fabrik_joint_bone2d_node(which);
} else if (what == "bone_index") {
r_ret = get_fabrik_joint_bone_index(which);
} else if (what == "magnet_position") {
r_ret = get_fabrik_joint_magnet_position(which);
} else if (what == "use_target_rotation") {
r_ret = get_fabrik_joint_use_target_rotation(which);
}
return true;
}
return true;
}
void SkeletonModification2DFABRIK::_get_property_list(List<PropertyInfo> *p_list) const {
for (int i = 0; i < fabrik_data_chain.size(); i++) {
String base_string = "joint_data/" + itos(i) + "/";
p_list->push_back(PropertyInfo(Variant::INT, base_string + "bone_index", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::NODE_PATH, base_string + "bone2d_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Bone2D", PROPERTY_USAGE_DEFAULT));
if (i > 0) {
p_list->push_back(PropertyInfo(Variant::VECTOR2, base_string + "magnet_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
}
if (i == fabrik_data_chain.size() - 1) {
p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_target_rotation", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
}
}
}
void SkeletonModification2DFABRIK::_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 (fabrik_data_chain.size() <= 1) {
ERR_PRINT_ONCE("FABRIK requires at least two joints to operate! Cannot execute modification!");
return;
}
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;
}
target_global_pose = target->get_global_transform();
if (fabrik_data_chain[0].bone2d_node_cache.is_null() && !fabrik_data_chain[0].bone2d_node.is_empty()) {
fabrik_joint_update_bone2d_cache(0);
WARN_PRINT("Bone2D cache for origin joint is out of date. Updating...");
}
Bone2D *origin_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[0].bone2d_node_cache));
if (!origin_bone2d_node || !origin_bone2d_node->is_inside_tree()) {
ERR_PRINT_ONCE("Origin joint's Bone2D node is not in the scene tree. Cannot execute modification!");
return;
}
origin_global_pose = origin_bone2d_node->get_global_transform();
if (fabrik_transform_chain.size() != fabrik_data_chain.size()) {
fabrik_transform_chain.resize(fabrik_data_chain.size());
}
for (int i = 0; i < fabrik_data_chain.size(); i++) {
// Update the transform chain
if (fabrik_data_chain[i].bone2d_node_cache.is_null() && !fabrik_data_chain[i].bone2d_node.is_empty()) {
WARN_PRINT_ONCE("Bone2D cache for joint " + itos(i) + " is out of date.. Attempting to update...");
fabrik_joint_update_bone2d_cache(i);
}
Bone2D *joint_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[i].bone2d_node_cache));
if (!joint_bone2d_node) {
ERR_PRINT_ONCE("FABRIK Joint " + itos(i) + " does not have a Bone2D node set! Cannot execute modification!");
return;
}
fabrik_transform_chain.write[i] = joint_bone2d_node->get_global_transform();
}
Bone2D *final_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[fabrik_data_chain.size() - 1].bone2d_node_cache));
Use get_global_* functions instead of using transforms.
2021-08-14 08:16:57 +00:00
float final_bone2d_angle = final_bone2d_node->get_global_rotation();
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.
2020-08-03 18:02:24 +00:00
if (fabrik_data_chain[fabrik_data_chain.size() - 1].use_target_rotation) {
final_bone2d_angle = target_global_pose.get_rotation();
}
Vector2 final_bone2d_direction = Vector2(Math::cos(final_bone2d_angle), Math::sin(final_bone2d_angle));
float final_bone2d_length = final_bone2d_node->get_length() * MIN(final_bone2d_node->get_global_scale().x, final_bone2d_node->get_global_scale().y);
Use get_global_* functions instead of using transforms.
2021-08-14 08:16:57 +00:00
float target_distance = (final_bone2d_node->get_global_position() + (final_bone2d_direction * final_bone2d_length)).distance_to(target->get_global_position());
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.
2020-08-03 18:02:24 +00:00
chain_iterations = 0;
while (target_distance > chain_tolarance) {
chain_backwards();
chain_forwards();
Use get_global_* functions instead of using transforms.
2021-08-14 08:16:57 +00:00
final_bone2d_angle = final_bone2d_node->get_global_rotation();
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.
2020-08-03 18:02:24 +00:00
if (fabrik_data_chain[fabrik_data_chain.size() - 1].use_target_rotation) {
final_bone2d_angle = target_global_pose.get_rotation();
}
final_bone2d_direction = Vector2(Math::cos(final_bone2d_angle), Math::sin(final_bone2d_angle));
Use get_global_* functions instead of using transforms.
2021-08-14 08:16:57 +00:00
target_distance = (final_bone2d_node->get_global_position() + (final_bone2d_direction * final_bone2d_length)).distance_to(target->get_global_position());
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.
2020-08-03 18:02:24 +00:00
chain_iterations += 1;
if (chain_iterations >= chain_max_iterations) {
break;
}
}
// Apply all of the saved transforms to the Bone2D nodes
for (int i = 0; i < fabrik_data_chain.size(); i++) {
Bone2D *joint_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[i].bone2d_node_cache));
if (!joint_bone2d_node) {
ERR_PRINT_ONCE("FABRIK Joint " + itos(i) + " does not have a Bone2D node set!");
continue;
}
Transform2D chain_trans = fabrik_transform_chain[i];
// Apply rotation
if (i + 1 < fabrik_data_chain.size()) {
chain_trans = chain_trans.looking_at(fabrik_transform_chain[i + 1].get_origin());
} else {
if (fabrik_data_chain[i].use_target_rotation) {
chain_trans.set_rotation(target_global_pose.get_rotation());
} else {
chain_trans = chain_trans.looking_at(target_global_pose.get_origin());
}
}
// Adjust for the bone angle
chain_trans.set_rotation(chain_trans.get_rotation() - joint_bone2d_node->get_bone_angle());
// Reset scale
Use get_global_* functions instead of using transforms.
2021-08-14 08:16:57 +00:00
chain_trans.set_scale(joint_bone2d_node->get_global_scale());
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.
2020-08-03 18:02:24 +00:00
// Apply to the bone, and to the override
joint_bone2d_node->set_global_transform(chain_trans);
stack->skeleton->set_bone_local_pose_override(fabrik_data_chain[i].bone_idx, joint_bone2d_node->get_transform(), stack->strength, true);
}
}
void SkeletonModification2DFABRIK::chain_backwards() {
int final_joint_index = fabrik_data_chain.size() - 1;
Bone2D *final_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[final_joint_index].bone2d_node_cache));
Transform2D final_bone2d_trans = fabrik_transform_chain[final_joint_index];
Fixed magnet vector not working correctly in SkeletonModification2DFABRIK
2021-08-18 00:50:33 +00:00
// Apply magnet position
if (final_joint_index != 0) {
final_bone2d_trans.set_origin(final_bone2d_trans.get_origin() + fabrik_data_chain[final_joint_index].magnet_position);
}
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.
2020-08-03 18:02:24 +00:00
// Set the rotation of the tip bone
final_bone2d_trans = final_bone2d_trans.looking_at(target_global_pose.get_origin());
// Set the position of the tip bone
float final_bone2d_angle = final_bone2d_trans.get_rotation();
if (fabrik_data_chain[final_joint_index].use_target_rotation) {
final_bone2d_angle = target_global_pose.get_rotation();
}
Vector2 final_bone2d_direction = Vector2(Math::cos(final_bone2d_angle), Math::sin(final_bone2d_angle));
float final_bone2d_length = final_bone2d_node->get_length() * MIN(final_bone2d_node->get_global_scale().x, final_bone2d_node->get_global_scale().y);
final_bone2d_trans.set_origin(target_global_pose.get_origin() - (final_bone2d_direction * final_bone2d_length));
// Save the transform
fabrik_transform_chain.write[final_joint_index] = final_bone2d_trans;
int i = final_joint_index;
while (i >= 1) {
Transform2D previous_pose = fabrik_transform_chain[i];
i -= 1;
Bone2D *current_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[i].bone2d_node_cache));
Transform2D current_pose = fabrik_transform_chain[i];
Fixed magnet vector not working correctly in SkeletonModification2DFABRIK
2021-08-18 00:50:33 +00:00
// Apply magnet position
if (i != 0) {
current_pose.set_origin(current_pose.get_origin() + fabrik_data_chain[i].magnet_position);
}
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.
2020-08-03 18:02:24 +00:00
float current_bone2d_node_length = current_bone2d_node->get_length() * MIN(current_bone2d_node->get_global_scale().x, current_bone2d_node->get_global_scale().y);
Use functions defined in the their classes.
2021-09-29 03:51:34 +00:00
float length = current_bone2d_node_length / (current_pose.get_origin().distance_to(previous_pose.get_origin()));
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.
2020-08-03 18:02:24 +00:00
Vector2 finish_position = previous_pose.get_origin().lerp(current_pose.get_origin(), length);
current_pose.set_origin(finish_position);
// Save the transform
fabrik_transform_chain.write[i] = current_pose;
}
}
void SkeletonModification2DFABRIK::chain_forwards() {
Transform2D origin_bone2d_trans = fabrik_transform_chain[0];
origin_bone2d_trans.set_origin(origin_global_pose.get_origin());
// Save the position
fabrik_transform_chain.write[0] = origin_bone2d_trans;
for (int i = 0; i < fabrik_data_chain.size() - 1; i++) {
Bone2D *current_bone2d_node = Object::cast_to<Bone2D>(ObjectDB::get_instance(fabrik_data_chain[i].bone2d_node_cache));
Transform2D current_pose = fabrik_transform_chain[i];
Transform2D next_pose = fabrik_transform_chain[i + 1];
float current_bone2d_node_length = current_bone2d_node->get_length() * MIN(current_bone2d_node->get_global_scale().x, current_bone2d_node->get_global_scale().y);
Use functions defined in the their classes.
2021-09-29 03:51:34 +00:00
float length = current_bone2d_node_length / (next_pose.get_origin().distance_to(current_pose.get_origin()));
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.
2020-08-03 18:02:24 +00:00
Vector2 finish_position = current_pose.get_origin().lerp(next_pose.get_origin(), length);
current_pose.set_origin(finish_position);
// Apply to the bone
fabrik_transform_chain.write[i + 1] = current_pose;
}
}
void SkeletonModification2DFABRIK::_setup_modification(SkeletonModificationStack2D *p_stack) {
stack = p_stack;
if (stack != nullptr) {
is_setup = true;
update_target_cache();
}
}
void SkeletonModification2DFABRIK::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 scene tree!");
target_node_cache = node->get_instance_id();
}
}
}
}
void SkeletonModification2DFABRIK::fabrik_joint_update_bone2d_cache(int p_joint_idx) {
ERR_FAIL_INDEX_MSG(p_joint_idx, fabrik_data_chain.size(), "Cannot update bone2d cache: joint index out of range!");
if (!is_setup || !stack) {
ERR_PRINT_ONCE("Cannot update FABRIK Bone2D cache: modification is not properly setup!");
return;
}
fabrik_data_chain.write[p_joint_idx].bone2d_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(fabrik_data_chain[p_joint_idx].bone2d_node)) {
Node *node = stack->skeleton->get_node(fabrik_data_chain[p_joint_idx].bone2d_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update FABRIK joint " + itos(p_joint_idx) + " Bone2D cache: node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update FABRIK joint " + itos(p_joint_idx) + " Bone2D cache: node is not in scene tree!");
fabrik_data_chain.write[p_joint_idx].bone2d_node_cache = node->get_instance_id();
Bone2D *bone = Object::cast_to<Bone2D>(node);
if (bone) {
fabrik_data_chain.write[p_joint_idx].bone_idx = bone->get_index_in_skeleton();
} else {
ERR_FAIL_MSG("FABRIK joint " + itos(p_joint_idx) + " Bone2D cache: Nodepath to Bone2D is not a Bone2D node!");
}
}
}
}
}
void SkeletonModification2DFABRIK::set_target_node(const NodePath &p_target_node) {
target_node = p_target_node;
update_target_cache();
}
NodePath SkeletonModification2DFABRIK::get_target_node() const {
return target_node;
}
void SkeletonModification2DFABRIK::set_fabrik_data_chain_length(int p_length) {
fabrik_data_chain.resize(p_length);
notify_property_list_changed();
}
int SkeletonModification2DFABRIK::get_fabrik_data_chain_length() {
return fabrik_data_chain.size();
}
void SkeletonModification2DFABRIK::set_fabrik_joint_bone2d_node(int p_joint_idx, const NodePath &p_target_node) {
ERR_FAIL_INDEX_MSG(p_joint_idx, fabrik_data_chain.size(), "FABRIK joint out of range!");
fabrik_data_chain.write[p_joint_idx].bone2d_node = p_target_node;
fabrik_joint_update_bone2d_cache(p_joint_idx);
notify_property_list_changed();
}
NodePath SkeletonModification2DFABRIK::get_fabrik_joint_bone2d_node(int p_joint_idx) const {
ERR_FAIL_INDEX_V_MSG(p_joint_idx, fabrik_data_chain.size(), NodePath(), "FABRIK joint out of range!");
return fabrik_data_chain[p_joint_idx].bone2d_node;
}
void SkeletonModification2DFABRIK::set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx) {
ERR_FAIL_INDEX_MSG(p_joint_idx, fabrik_data_chain.size(), "FABRIK joint out of range!");
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!");
fabrik_data_chain.write[p_joint_idx].bone_idx = p_bone_idx;
fabrik_data_chain.write[p_joint_idx].bone2d_node_cache = stack->skeleton->get_bone(p_bone_idx)->get_instance_id();
fabrik_data_chain.write[p_joint_idx].bone2d_node = stack->skeleton->get_path_to(stack->skeleton->get_bone(p_bone_idx));
} else {
WARN_PRINT("Cannot verify the FABRIK joint " + itos(p_joint_idx) + " bone index for this modification...");
fabrik_data_chain.write[p_joint_idx].bone_idx = p_bone_idx;
}
} else {
WARN_PRINT("Cannot verify the FABRIK joint " + itos(p_joint_idx) + " bone index for this modification...");
fabrik_data_chain.write[p_joint_idx].bone_idx = p_bone_idx;
}
notify_property_list_changed();
}
int SkeletonModification2DFABRIK::get_fabrik_joint_bone_index(int p_joint_idx) const {
ERR_FAIL_INDEX_V_MSG(p_joint_idx, fabrik_data_chain.size(), -1, "FABRIK joint out of range!");
return fabrik_data_chain[p_joint_idx].bone_idx;
}
void SkeletonModification2DFABRIK::set_fabrik_joint_magnet_position(int p_joint_idx, Vector2 p_magnet_position) {
ERR_FAIL_INDEX_MSG(p_joint_idx, fabrik_data_chain.size(), "FABRIK joint out of range!");
fabrik_data_chain.write[p_joint_idx].magnet_position = p_magnet_position;
}
Vector2 SkeletonModification2DFABRIK::get_fabrik_joint_magnet_position(int p_joint_idx) const {
ERR_FAIL_INDEX_V_MSG(p_joint_idx, fabrik_data_chain.size(), Vector2(), "FABRIK joint out of range!");
return fabrik_data_chain[p_joint_idx].magnet_position;
}
void SkeletonModification2DFABRIK::set_fabrik_joint_use_target_rotation(int p_joint_idx, bool p_use_target_rotation) {
ERR_FAIL_INDEX_MSG(p_joint_idx, fabrik_data_chain.size(), "FABRIK joint out of range!");
fabrik_data_chain.write[p_joint_idx].use_target_rotation = p_use_target_rotation;
}
bool SkeletonModification2DFABRIK::get_fabrik_joint_use_target_rotation(int p_joint_idx) const {
ERR_FAIL_INDEX_V_MSG(p_joint_idx, fabrik_data_chain.size(), false, "FABRIK joint out of range!");
return fabrik_data_chain[p_joint_idx].use_target_rotation;
}
void SkeletonModification2DFABRIK::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification2DFABRIK::set_target_node);
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification2DFABRIK::get_target_node);
ClassDB::bind_method(D_METHOD("set_fabrik_data_chain_length", "length"), &SkeletonModification2DFABRIK::set_fabrik_data_chain_length);
ClassDB::bind_method(D_METHOD("get_fabrik_data_chain_length"), &SkeletonModification2DFABRIK::get_fabrik_data_chain_length);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_bone2d_node", "joint_idx", "bone2d_nodepath"), &SkeletonModification2DFABRIK::set_fabrik_joint_bone2d_node);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_bone2d_node", "joint_idx"), &SkeletonModification2DFABRIK::get_fabrik_joint_bone2d_node);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_bone_index", "joint_idx", "bone_idx"), &SkeletonModification2DFABRIK::set_fabrik_joint_bone_index);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_bone_index", "joint_idx"), &SkeletonModification2DFABRIK::get_fabrik_joint_bone_index);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_magnet_position", "joint_idx", "magnet_position"), &SkeletonModification2DFABRIK::set_fabrik_joint_magnet_position);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_magnet_position", "joint_idx"), &SkeletonModification2DFABRIK::get_fabrik_joint_magnet_position);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_use_target_rotation", "joint_idx", "use_target_rotation"), &SkeletonModification2DFABRIK::set_fabrik_joint_use_target_rotation);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_use_target_rotation", "joint_idx"), &SkeletonModification2DFABRIK::get_fabrik_joint_use_target_rotation);
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::INT, "fabrik_data_chain_length", PROPERTY_HINT_RANGE, "0, 100, 1"), "set_fabrik_data_chain_length", "get_fabrik_data_chain_length");
}
SkeletonModification2DFABRIK::SkeletonModification2DFABRIK() {
stack = nullptr;
is_setup = false;
enabled = true;
editor_draw_gizmo = false;
}
SkeletonModification2DFABRIK::~SkeletonModification2DFABRIK() {
}
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