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InverseKinematics node, basic features

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I don't already know how the fuck it works, but it is.
A bit slow currently, but hope to improve it soon.

The current limitations:

1. No constraints. At all.
2. Used simplest CCD algorithm, I just can't believe
in jacobian construction from code.
3. Slow to get to target.
This commit is contained in:
Sergey Lapin 2016-03-29 22:52:31 +03:00
parent 15d1fca061
commit 8d7a94389a
8 changed files with 458 additions and 0 deletions
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0
demos/3d/inverse_kinematics/engine.cfg Normal file
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demos/3d/inverse_kinematics/main.scn Normal file
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3
modules/ik/SCsub Normal file
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Import('env')
env.add_source_files(env.modules_sources,"*.cpp")

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modules/ik/config.py Normal file
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def can_build(platform):
return True
def configure(env):
pass

298
modules/ik/ik.cpp Normal file
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/*************************************************************************/
/* ik.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* This file is Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com> */
/* */
/* 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 "ik.h"
bool InverseKinematics::_get(const StringName& p_name,Variant &r_ret) const
{
if (String(p_name)=="ik_bone") {
r_ret=get_bone_name();
return true;
}
return false;
}
bool InverseKinematics::_set(const StringName& p_name, const Variant& p_value)
{
if (String(p_name)=="ik_bone") {
set_bone_name(p_value);
return true;
}
return false;
}
void InverseKinematics::_get_property_list( List<PropertyInfo>* p_list ) const
{
Skeleton *parent=NULL;
if(get_parent())
parent=get_parent()->cast_to<Skeleton>();
if (parent) {
String names;
for(int i=0;i<parent->get_bone_count();i++) {
if(i>0)
names+=",";
names+=parent->get_bone_name(i);
}
p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone",PROPERTY_HINT_ENUM,names));
} else {
p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone"));
}
}
void InverseKinematics::_check_bind()
{
if (get_parent() && get_parent()->cast_to<Skeleton>()) {
Skeleton *sk = get_parent()->cast_to<Skeleton>();
int idx = sk->find_bone(ik_bone);
if (idx!=-1) {
ik_bone_no = idx;
skel = sk;
bound=true;
}
}
}
void InverseKinematics::_check_unbind()
{
if (bound) {
if (get_parent() && get_parent()->cast_to<Skeleton>()) {
Skeleton *sk = get_parent()->cast_to<Skeleton>();
int idx = sk->find_bone(ik_bone);
if (idx!=-1) {
ik_bone_no = idx;
skel = sk;
}
}
bound=false;
}
}
void InverseKinematics::set_bone_name(const String& p_name)
{
if (is_inside_tree())
_check_unbind();
ik_bone=p_name;
if (is_inside_tree())
_check_bind();
}
String InverseKinematics::get_bone_name() const
{
return ik_bone;
}
void InverseKinematics::set_iterations(int itn)
{
if (is_inside_tree())
_check_unbind();
iterations=itn;
if (is_inside_tree())
_check_bind();
}
int InverseKinematics::get_iterations() const
{
return iterations;
}
void InverseKinematics::set_chain_size(int cs)
{
if (is_inside_tree())
_check_unbind();
chain_size=cs;
chain.clear();
int cur_bone = ik_bone_no;
int its = chain_size;
set_process(false);
print_line("wtf clean: " + itos(chain.size()) + "/" + itos(chain_size) + " wtf ik bone: " + itos(ik_bone_no));
while (its > 0 && cur_bone >= 0) {
print_line("wtf pushing: " + itos(chain.size()));
chain.push_back(cur_bone);
cur_bone = skel->get_bone_parent(cur_bone);
its--;
}
set_process(true);
print_line("wtf size: " + itos(chain.size()));
if (is_inside_tree())
_check_bind();
}
int InverseKinematics::get_chain_size() const
{
return chain_size;
}
void InverseKinematics::set_precision(float p)
{
if (is_inside_tree())
_check_unbind();
precision=p;
if (is_inside_tree())
_check_bind();
}
float InverseKinematics::get_precision() const
{
return precision;
}
void InverseKinematics::_notification(int p_what)
{
switch(p_what) {
case NOTIFICATION_ENTER_TREE: {
_check_bind();
tail_bone = -1;
if (bound) {
for (int i = 0; i < skel->get_bone_count(); i++)
if (skel->get_bone_parent(i) == ik_bone_no)
tail_bone = i;
int cur_bone = ik_bone_no;
int its = chain_size;
while (its > 0 && cur_bone >= 0) {
chain.push_back(cur_bone);
cur_bone = skel->get_bone_parent(cur_bone);
its--;
}
set_process(true);
}
} break;
case NOTIFICATION_PROCESS: {
float delta = get_process_delta_time();
Spatial *sksp = skel->cast_to<Spatial>();
if (!bound)
break;
if (!sksp)
break;
Vector3 to = get_translation();
for (int hump = 0; hump < iterations; hump++) {
int depth = 0;
float olderr = 1000.0;
float psign = 1.0;
bool reached = false;
for (List<int>::Element *b = chain.front(); b; b = b->next()) {
int cur_bone = b->get();
Vector3 d = skel->get_bone_global_pose(tail_bone).origin;
Vector3 rg = to;
float err = d.distance_squared_to(rg);
if (err < precision) {
if (!reached && err < precision)
reached = true;
break;
} else
if (reached)
reached = false;
if (err > olderr)
psign = -psign;
Transform mod = skel->get_bone_global_pose(cur_bone);
Quat q1 = Quat(mod.basis).normalized();
Transform mod2 = mod.looking_at(to, Vector3(0.0, 1.0, 0.0));
Quat q2 = Quat(mod2.basis).normalized();
if (psign < 0.0)
q2 = q2.inverse();
Quat q = q1.slerp(q2, 0.2 / (1.0 + 500.0 * depth)).normalized();
Transform fin = Transform(q);
fin.origin = mod.origin;
skel->set_bone_global_pose(cur_bone, fin);
depth++;
}
if (reached)
break;
}
} break;
case NOTIFICATION_EXIT_TREE: {
set_process(false);
_check_unbind();
} break;
}
}
void InverseKinematics::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_bone_name","ik_bone"),&InverseKinematics::set_bone_name);
ObjectTypeDB::bind_method(_MD("get_bone_name"),&InverseKinematics::get_bone_name);
ObjectTypeDB::bind_method(_MD("set_iterations","iterations"),&InverseKinematics::set_iterations);
ObjectTypeDB::bind_method(_MD("get_iterations"),&InverseKinematics::get_iterations);
ObjectTypeDB::bind_method(_MD("set_chain_size","chain_size"),&InverseKinematics::set_chain_size);
ObjectTypeDB::bind_method(_MD("get_chain_size"),&InverseKinematics::get_chain_size);
ObjectTypeDB::bind_method(_MD("set_precision","precision"),&InverseKinematics::set_precision);
ObjectTypeDB::bind_method(_MD("get_precision"),&InverseKinematics::get_precision);
ADD_PROPERTY(PropertyInfo(Variant::INT, "iterations"), _SCS("set_iterations"), _SCS("get_iterations"));
ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_size"), _SCS("set_chain_size"), _SCS("get_chain_size"));
ADD_PROPERTY(PropertyInfo(Variant::REAL, "precision"), _SCS("set_precision"), _SCS("get_precision"));
}
InverseKinematics::InverseKinematics()
{
bound=false;
chain_size = 2;
iterations = 100;
precision = 0.001;
}

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modules/ik/ik.h Normal file
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/*************************************************************************/
/* ik.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* This file is (c) 2016 Sergey Lapin <slapinid@gmail.com> */
/* */
/* 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. */
/*************************************************************************/
#ifndef IK_H
#define IK_H
#include "scene/3d/skeleton.h"
class InverseKinematics : public Spatial {
OBJ_TYPE(InverseKinematics, Spatial);
bool bound;
String ik_bone;
int ik_bone_no;
int tail_bone;
int chain_size;
Skeleton *skel;
List<int> chain;
void _check_bind();
void _check_unbind();
int iterations;
float precision;
protected:
bool _set(const StringName& p_name, const Variant& p_value);
bool _get(const StringName& p_name,Variant &r_ret) const;
void _get_property_list( List<PropertyInfo> *p_list) const;
void _notification(int p_what);
static void _bind_methods();
public:
Skeleton *get_skeleton();
void set_bone_name(const String& p_name);
String get_bone_name() const;
void set_iterations(int itn);
int get_iterations() const;
void set_chain_size(int cs);
int get_chain_size() const;
void set_precision(float p);
float get_precision() const;
InverseKinematics();
};
#endif

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/*************************************************************************/
/* register_types.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 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 "register_types.h"
#ifndef _3D_DISABLED
#include "object_type_db.h"
#include "ik.h"
#endif
void register_ik_types() {
#ifndef _3D_DISABLED
ObjectTypeDB::register_type<InverseKinematics>();
#endif
}
void unregister_ik_types() {
}

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modules/ik/register_types.h Normal file
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/*************************************************************************/
/* register_types.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 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. */
/*************************************************************************/
void register_ik_types();
void unregister_ik_types();