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486 lines
20 KiB
C++
486 lines
20 KiB
C++
/**************************************************************************/
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/* skeleton_modification_2d_twoboneik.cpp */
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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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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 "skeleton_modification_2d_twoboneik.h"
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#include "scene/2d/skeleton_2d.h"
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#ifdef TOOLS_ENABLED
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#include "editor/editor_settings.h"
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#endif // TOOLS_ENABLED
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bool SkeletonModification2DTwoBoneIK::_set(const StringName &p_path, const Variant &p_value) {
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String path = p_path;
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if (path == "joint_one_bone_idx") {
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set_joint_one_bone_idx(p_value);
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} else if (path == "joint_one_bone2d_node") {
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set_joint_one_bone2d_node(p_value);
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} else if (path == "joint_two_bone_idx") {
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set_joint_two_bone_idx(p_value);
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} else if (path == "joint_two_bone2d_node") {
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set_joint_two_bone2d_node(p_value);
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}
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#ifdef TOOLS_ENABLED
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else if (path.begins_with("editor/draw_gizmo")) {
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set_editor_draw_gizmo(p_value);
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} else if (path.begins_with("editor/draw_min_max")) {
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set_editor_draw_min_max(p_value);
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}
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#endif // TOOLS_ENABLED
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else {
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return false;
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}
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return true;
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}
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bool SkeletonModification2DTwoBoneIK::_get(const StringName &p_path, Variant &r_ret) const {
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String path = p_path;
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if (path == "joint_one_bone_idx") {
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r_ret = get_joint_one_bone_idx();
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} else if (path == "joint_one_bone2d_node") {
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r_ret = get_joint_one_bone2d_node();
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} else if (path == "joint_two_bone_idx") {
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r_ret = get_joint_two_bone_idx();
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} else if (path == "joint_two_bone2d_node") {
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r_ret = get_joint_two_bone2d_node();
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}
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#ifdef TOOLS_ENABLED
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else if (path.begins_with("editor/draw_gizmo")) {
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r_ret = get_editor_draw_gizmo();
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} else if (path.begins_with("editor/draw_min_max")) {
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r_ret = get_editor_draw_min_max();
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}
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#endif // TOOLS_ENABLED
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else {
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return false;
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}
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return true;
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}
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void SkeletonModification2DTwoBoneIK::_get_property_list(List<PropertyInfo> *p_list) const {
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p_list->push_back(PropertyInfo(Variant::INT, "joint_one_bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::NODE_PATH, "joint_one_bone2d_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Bone2D", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::INT, "joint_two_bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::NODE_PATH, "joint_two_bone2d_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Bone2D", PROPERTY_USAGE_DEFAULT));
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#ifdef TOOLS_ENABLED
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if (Engine::get_singleton()->is_editor_hint()) {
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p_list->push_back(PropertyInfo(Variant::BOOL, "editor/draw_gizmo", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::BOOL, "editor/draw_min_max", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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}
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#endif // TOOLS_ENABLED
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}
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void SkeletonModification2DTwoBoneIK::_execute(float p_delta) {
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ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr,
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"Modification is not setup and therefore cannot execute!");
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if (!enabled) {
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return;
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}
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if (target_node_cache.is_null()) {
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WARN_PRINT_ONCE("Target cache is out of date. Attempting to update...");
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update_target_cache();
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return;
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}
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if (joint_one_bone2d_node_cache.is_null() && !joint_one_bone2d_node.is_empty()) {
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WARN_PRINT_ONCE("Joint one Bone2D node cache is out of date. Attempting to update...");
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update_joint_one_bone2d_cache();
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}
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if (joint_two_bone2d_node_cache.is_null() && !joint_two_bone2d_node.is_empty()) {
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WARN_PRINT_ONCE("Joint two Bone2D node cache is out of date. Attempting to update...");
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update_joint_two_bone2d_cache();
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}
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Node2D *target = Object::cast_to<Node2D>(ObjectDB::get_instance(target_node_cache));
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if (!target || !target->is_inside_tree()) {
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ERR_PRINT_ONCE("Target node is not in the scene tree. Cannot execute modification!");
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return;
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}
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Bone2D *joint_one_bone = stack->skeleton->get_bone(joint_one_bone_idx);
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if (joint_one_bone == nullptr) {
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ERR_PRINT_ONCE("Joint one bone_idx does not point to a valid bone! Cannot execute modification!");
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return;
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}
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Bone2D *joint_two_bone = stack->skeleton->get_bone(joint_two_bone_idx);
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if (joint_two_bone == nullptr) {
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ERR_PRINT_ONCE("Joint two bone_idx does not point to a valid bone! Cannot execute modification!");
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return;
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}
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// Adopted from the links below:
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// http://theorangeduck.com/page/simple-two-joint
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// https://www.alanzucconi.com/2018/05/02/ik-2d-2/
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// With modifications by TwistedTwigleg
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Vector2 target_difference = target->get_global_position() - joint_one_bone->get_global_position();
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float joint_one_to_target = target_difference.length();
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float angle_atan = target_difference.angle();
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float bone_one_length = joint_one_bone->get_length() * MIN(joint_one_bone->get_global_scale().x, joint_one_bone->get_global_scale().y);
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float bone_two_length = joint_two_bone->get_length() * MIN(joint_two_bone->get_global_scale().x, joint_two_bone->get_global_scale().y);
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bool override_angles_due_to_out_of_range = false;
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if (joint_one_to_target < target_minimum_distance) {
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joint_one_to_target = target_minimum_distance;
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}
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if (joint_one_to_target > target_maximum_distance && target_maximum_distance > 0.0) {
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joint_one_to_target = target_maximum_distance;
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}
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if (bone_one_length + bone_two_length < joint_one_to_target) {
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override_angles_due_to_out_of_range = true;
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}
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if (!override_angles_due_to_out_of_range) {
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float angle_0 = Math::acos(((joint_one_to_target * joint_one_to_target) + (bone_one_length * bone_one_length) - (bone_two_length * bone_two_length)) / (2.0 * joint_one_to_target * bone_one_length));
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float angle_1 = Math::acos(((bone_two_length * bone_two_length) + (bone_one_length * bone_one_length) - (joint_one_to_target * joint_one_to_target)) / (2.0 * bone_two_length * bone_one_length));
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if (flip_bend_direction) {
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angle_0 = -angle_0;
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angle_1 = -angle_1;
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}
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if (isnan(angle_0) || isnan(angle_1)) {
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// We cannot solve for this angle! Do nothing to avoid setting the rotation (and scale) to NaN.
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} else {
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joint_one_bone->set_global_rotation(angle_atan - angle_0 - joint_one_bone->get_bone_angle());
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joint_two_bone->set_rotation(-Math_PI - angle_1 - joint_two_bone->get_bone_angle() + joint_one_bone->get_bone_angle());
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}
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} else {
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joint_one_bone->set_global_rotation(angle_atan - joint_one_bone->get_bone_angle());
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joint_two_bone->set_global_rotation(angle_atan - joint_two_bone->get_bone_angle());
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}
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stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, joint_one_bone->get_transform(), stack->strength, true);
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stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, joint_two_bone->get_transform(), stack->strength, true);
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}
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void SkeletonModification2DTwoBoneIK::_setup_modification(SkeletonModificationStack2D *p_stack) {
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stack = p_stack;
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if (stack) {
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is_setup = true;
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update_target_cache();
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update_joint_one_bone2d_cache();
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update_joint_two_bone2d_cache();
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}
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}
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void SkeletonModification2DTwoBoneIK::_draw_editor_gizmo() {
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if (!enabled || !is_setup) {
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return;
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}
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Bone2D *operation_bone_one = stack->skeleton->get_bone(joint_one_bone_idx);
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if (!operation_bone_one) {
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return;
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}
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stack->skeleton->draw_set_transform(
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stack->skeleton->to_local(operation_bone_one->get_global_position()),
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operation_bone_one->get_global_rotation() - stack->skeleton->get_global_rotation());
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Color bone_ik_color = Color(1.0, 0.65, 0.0, 0.4);
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#ifdef TOOLS_ENABLED
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if (Engine::get_singleton()->is_editor_hint()) {
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bone_ik_color = EDITOR_GET("editors/2d/bone_ik_color");
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}
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#endif // TOOLS_ENABLED
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if (flip_bend_direction) {
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float angle = -(Math_PI * 0.5) + operation_bone_one->get_bone_angle();
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stack->skeleton->draw_line(Vector2(0, 0), Vector2(Math::cos(angle), sin(angle)) * (operation_bone_one->get_length() * 0.5), bone_ik_color, 2.0);
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} else {
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float angle = (Math_PI * 0.5) + operation_bone_one->get_bone_angle();
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stack->skeleton->draw_line(Vector2(0, 0), Vector2(Math::cos(angle), sin(angle)) * (operation_bone_one->get_length() * 0.5), bone_ik_color, 2.0);
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}
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#ifdef TOOLS_ENABLED
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if (Engine::get_singleton()->is_editor_hint()) {
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if (editor_draw_min_max) {
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if (target_maximum_distance != 0.0 || target_minimum_distance != 0.0) {
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Vector2 target_direction = Vector2(0, 1);
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if (target_node_cache.is_valid()) {
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stack->skeleton->draw_set_transform(Vector2(0, 0), 0.0);
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Node2D *target = Object::cast_to<Node2D>(ObjectDB::get_instance(target_node_cache));
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target_direction = operation_bone_one->get_global_position().direction_to(target->get_global_position());
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}
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stack->skeleton->draw_circle(target_direction * target_minimum_distance, 8, bone_ik_color);
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stack->skeleton->draw_circle(target_direction * target_maximum_distance, 8, bone_ik_color);
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stack->skeleton->draw_line(target_direction * target_minimum_distance, target_direction * target_maximum_distance, bone_ik_color, 2.0);
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}
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}
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}
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#endif // TOOLS_ENABLED
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}
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void SkeletonModification2DTwoBoneIK::update_target_cache() {
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if (!is_setup || !stack) {
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ERR_PRINT_ONCE("Cannot update target cache: modification is not properly setup!");
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return;
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}
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target_node_cache = ObjectID();
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if (stack->skeleton) {
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if (stack->skeleton->is_inside_tree()) {
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if (stack->skeleton->has_node(target_node)) {
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Node *node = stack->skeleton->get_node(target_node);
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ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
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"Cannot update target cache: node is this modification's skeleton or cannot be found!");
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ERR_FAIL_COND_MSG(!node->is_inside_tree(),
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"Cannot update target cache: node is not in the scene tree!");
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target_node_cache = node->get_instance_id();
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}
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}
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}
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}
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void SkeletonModification2DTwoBoneIK::update_joint_one_bone2d_cache() {
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if (!is_setup || !stack) {
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ERR_PRINT_ONCE("Cannot update joint one Bone2D cache: modification is not properly setup!");
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return;
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}
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joint_one_bone2d_node_cache = ObjectID();
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if (stack->skeleton) {
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if (stack->skeleton->is_inside_tree()) {
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if (stack->skeleton->has_node(joint_one_bone2d_node)) {
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Node *node = stack->skeleton->get_node(joint_one_bone2d_node);
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ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
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"Cannot update update joint one Bone2D cache: node is this modification's skeleton or cannot be found!");
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ERR_FAIL_COND_MSG(!node->is_inside_tree(),
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"Cannot update update joint one Bone2D cache: node is not in the scene tree!");
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joint_one_bone2d_node_cache = node->get_instance_id();
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Bone2D *bone = Object::cast_to<Bone2D>(node);
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if (bone) {
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joint_one_bone_idx = bone->get_index_in_skeleton();
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} else {
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ERR_FAIL_MSG("update joint one Bone2D cache: Nodepath to Bone2D is not a Bone2D node!");
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}
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}
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}
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}
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}
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void SkeletonModification2DTwoBoneIK::update_joint_two_bone2d_cache() {
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if (!is_setup || !stack) {
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ERR_PRINT_ONCE("Cannot update joint two Bone2D cache: modification is not properly setup!");
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return;
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}
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joint_two_bone2d_node_cache = ObjectID();
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if (stack->skeleton) {
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if (stack->skeleton->is_inside_tree()) {
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if (stack->skeleton->has_node(joint_two_bone2d_node)) {
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Node *node = stack->skeleton->get_node(joint_two_bone2d_node);
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ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
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"Cannot update update joint two Bone2D cache: node is this modification's skeleton or cannot be found!");
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ERR_FAIL_COND_MSG(!node->is_inside_tree(),
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"Cannot update update joint two Bone2D cache: node is not in scene tree!");
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joint_two_bone2d_node_cache = node->get_instance_id();
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Bone2D *bone = Object::cast_to<Bone2D>(node);
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if (bone) {
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joint_two_bone_idx = bone->get_index_in_skeleton();
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} else {
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ERR_FAIL_MSG("update joint two Bone2D cache: Nodepath to Bone2D is not a Bone2D node!");
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}
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}
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}
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}
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}
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void SkeletonModification2DTwoBoneIK::set_target_node(const NodePath &p_target_node) {
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target_node = p_target_node;
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update_target_cache();
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}
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NodePath SkeletonModification2DTwoBoneIK::get_target_node() const {
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return target_node;
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}
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void SkeletonModification2DTwoBoneIK::set_joint_one_bone2d_node(const NodePath &p_target_node) {
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joint_one_bone2d_node = p_target_node;
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update_joint_one_bone2d_cache();
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notify_property_list_changed();
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}
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void SkeletonModification2DTwoBoneIK::set_target_minimum_distance(float p_distance) {
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ERR_FAIL_COND_MSG(p_distance < 0, "Target minimum distance cannot be less than zero!");
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target_minimum_distance = p_distance;
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}
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float SkeletonModification2DTwoBoneIK::get_target_minimum_distance() const {
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return target_minimum_distance;
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}
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void SkeletonModification2DTwoBoneIK::set_target_maximum_distance(float p_distance) {
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ERR_FAIL_COND_MSG(p_distance < 0, "Target maximum distance cannot be less than zero!");
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target_maximum_distance = p_distance;
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}
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float SkeletonModification2DTwoBoneIK::get_target_maximum_distance() const {
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return target_maximum_distance;
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}
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void SkeletonModification2DTwoBoneIK::set_flip_bend_direction(bool p_flip_direction) {
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flip_bend_direction = p_flip_direction;
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#ifdef TOOLS_ENABLED
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if (stack && is_setup) {
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stack->set_editor_gizmos_dirty(true);
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}
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#endif // TOOLS_ENABLED
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}
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bool SkeletonModification2DTwoBoneIK::get_flip_bend_direction() const {
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return flip_bend_direction;
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}
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NodePath SkeletonModification2DTwoBoneIK::get_joint_one_bone2d_node() const {
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return joint_one_bone2d_node;
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}
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void SkeletonModification2DTwoBoneIK::set_joint_two_bone2d_node(const NodePath &p_target_node) {
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joint_two_bone2d_node = p_target_node;
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update_joint_two_bone2d_cache();
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notify_property_list_changed();
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}
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NodePath SkeletonModification2DTwoBoneIK::get_joint_two_bone2d_node() const {
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return joint_two_bone2d_node;
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}
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void SkeletonModification2DTwoBoneIK::set_joint_one_bone_idx(int p_bone_idx) {
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ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
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if (is_setup) {
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if (stack->skeleton) {
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ERR_FAIL_INDEX_MSG(p_bone_idx, stack->skeleton->get_bone_count(), "Passed-in Bone index is out of range!");
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joint_one_bone_idx = p_bone_idx;
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joint_one_bone2d_node_cache = stack->skeleton->get_bone(p_bone_idx)->get_instance_id();
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joint_one_bone2d_node = stack->skeleton->get_path_to(stack->skeleton->get_bone(p_bone_idx));
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} else {
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WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint one...");
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joint_one_bone_idx = p_bone_idx;
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}
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} else {
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WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint one...");
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joint_one_bone_idx = p_bone_idx;
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}
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notify_property_list_changed();
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}
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int SkeletonModification2DTwoBoneIK::get_joint_one_bone_idx() const {
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return joint_one_bone_idx;
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}
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void SkeletonModification2DTwoBoneIK::set_joint_two_bone_idx(int p_bone_idx) {
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ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
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if (is_setup) {
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if (stack->skeleton) {
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ERR_FAIL_INDEX_MSG(p_bone_idx, stack->skeleton->get_bone_count(), "Passed-in Bone index is out of range!");
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joint_two_bone_idx = p_bone_idx;
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joint_two_bone2d_node_cache = stack->skeleton->get_bone(p_bone_idx)->get_instance_id();
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joint_two_bone2d_node = stack->skeleton->get_path_to(stack->skeleton->get_bone(p_bone_idx));
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} else {
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WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint two...");
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joint_two_bone_idx = p_bone_idx;
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}
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} else {
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WARN_PRINT("TwoBoneIK: Cannot verify the joint bone index for joint two...");
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joint_two_bone_idx = p_bone_idx;
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}
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notify_property_list_changed();
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}
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int SkeletonModification2DTwoBoneIK::get_joint_two_bone_idx() const {
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return joint_two_bone_idx;
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}
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#ifdef TOOLS_ENABLED
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void SkeletonModification2DTwoBoneIK::set_editor_draw_min_max(bool p_draw) {
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editor_draw_min_max = p_draw;
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}
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bool SkeletonModification2DTwoBoneIK::get_editor_draw_min_max() const {
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return editor_draw_min_max;
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}
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#endif // TOOLS_ENABLED
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void SkeletonModification2DTwoBoneIK::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification2DTwoBoneIK::set_target_node);
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ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification2DTwoBoneIK::get_target_node);
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ClassDB::bind_method(D_METHOD("set_target_minimum_distance", "minimum_distance"), &SkeletonModification2DTwoBoneIK::set_target_minimum_distance);
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ClassDB::bind_method(D_METHOD("get_target_minimum_distance"), &SkeletonModification2DTwoBoneIK::get_target_minimum_distance);
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ClassDB::bind_method(D_METHOD("set_target_maximum_distance", "maximum_distance"), &SkeletonModification2DTwoBoneIK::set_target_maximum_distance);
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ClassDB::bind_method(D_METHOD("get_target_maximum_distance"), &SkeletonModification2DTwoBoneIK::get_target_maximum_distance);
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ClassDB::bind_method(D_METHOD("set_flip_bend_direction", "flip_direction"), &SkeletonModification2DTwoBoneIK::set_flip_bend_direction);
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ClassDB::bind_method(D_METHOD("get_flip_bend_direction"), &SkeletonModification2DTwoBoneIK::get_flip_bend_direction);
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ClassDB::bind_method(D_METHOD("set_joint_one_bone2d_node", "bone2d_node"), &SkeletonModification2DTwoBoneIK::set_joint_one_bone2d_node);
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ClassDB::bind_method(D_METHOD("get_joint_one_bone2d_node"), &SkeletonModification2DTwoBoneIK::get_joint_one_bone2d_node);
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ClassDB::bind_method(D_METHOD("set_joint_one_bone_idx", "bone_idx"), &SkeletonModification2DTwoBoneIK::set_joint_one_bone_idx);
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ClassDB::bind_method(D_METHOD("get_joint_one_bone_idx"), &SkeletonModification2DTwoBoneIK::get_joint_one_bone_idx);
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ClassDB::bind_method(D_METHOD("set_joint_two_bone2d_node", "bone2d_node"), &SkeletonModification2DTwoBoneIK::set_joint_two_bone2d_node);
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ClassDB::bind_method(D_METHOD("get_joint_two_bone2d_node"), &SkeletonModification2DTwoBoneIK::get_joint_two_bone2d_node);
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ClassDB::bind_method(D_METHOD("set_joint_two_bone_idx", "bone_idx"), &SkeletonModification2DTwoBoneIK::set_joint_two_bone_idx);
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ClassDB::bind_method(D_METHOD("get_joint_two_bone_idx"), &SkeletonModification2DTwoBoneIK::get_joint_two_bone_idx);
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|
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node2D"), "set_target_node", "get_target_node");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_minimum_distance", PROPERTY_HINT_RANGE, "0,100000000,0.01,suffix:m"), "set_target_minimum_distance", "get_target_minimum_distance");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_maximum_distance", PROPERTY_HINT_NONE, "0,100000000,0.01,suffix:m"), "set_target_maximum_distance", "get_target_maximum_distance");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "flip_bend_direction", PROPERTY_HINT_NONE, ""), "set_flip_bend_direction", "get_flip_bend_direction");
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ADD_GROUP("", "");
|
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}
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SkeletonModification2DTwoBoneIK::SkeletonModification2DTwoBoneIK() {
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stack = nullptr;
|
|
is_setup = false;
|
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enabled = true;
|
|
editor_draw_gizmo = true;
|
|
}
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|
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SkeletonModification2DTwoBoneIK::~SkeletonModification2DTwoBoneIK() {
|
|
}
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