godot/scene/resources/skeleton_modification_3d_fabrik.cpp
Micky 59e11934d8 Rename str2var to str_to_var and similar
Affects the Math class, a good chunk of the audio code, and a lot of other miscellaneous classes, too.

- `var2str` -> `var_to_str`
- `str2var` -> `str_to_var`
- `bytes2var` -> `bytes_to_var`
- `bytes2var_with_objects` -> `bytes_to_var_with_objects`
- `var2bytes` -> `var_to_bytes`
- `var2bytes_with_objects` -> `var_to_bytes_with_objects`
- `linear2db` -> `linear_to_db`
- `db2linear` -> `db_to_linear`
- `deg2rad` -> `deg_to_rad`
- `rad2deg` -> `rad_to_deg`

- `dict2inst` -> `dict_to_inst`
- `inst2dict` -> `inst_to_dict`
2022-08-26 14:58:22 +02:00

629 lines
30 KiB
C++

/*************************************************************************/
/* skeleton_modification_3d_fabrik.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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 "scene/resources/skeleton_modification_3d_fabrik.h"
#include "scene/3d/skeleton_3d.h"
#include "scene/resources/skeleton_modification_3d.h"
bool SkeletonModification3DFABRIK::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
if (path.begins_with("joint_data/")) {
int fabrik_data_size = fabrik_data_chain.size();
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, fabrik_data_size, false);
if (what == "bone_name") {
set_fabrik_joint_bone_name(which, p_value);
} else if (what == "bone_index") {
set_fabrik_joint_bone_index(which, p_value);
} else if (what == "length") {
set_fabrik_joint_length(which, p_value);
} else if (what == "magnet_position") {
set_fabrik_joint_magnet(which, p_value);
} else if (what == "auto_calculate_length") {
set_fabrik_joint_auto_calculate_length(which, p_value);
} else if (what == "use_tip_node") {
set_fabrik_joint_use_tip_node(which, p_value);
} else if (what == "tip_node") {
set_fabrik_joint_tip_node(which, p_value);
} else if (what == "use_target_basis") {
set_fabrik_joint_use_target_basis(which, p_value);
} else if (what == "roll") {
set_fabrik_joint_roll(which, Math::deg_to_rad(real_t(p_value)));
}
return true;
}
return true;
}
bool SkeletonModification3DFABRIK::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
if (path.begins_with("joint_data/")) {
const int fabrik_data_size = fabrik_data_chain.size();
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, fabrik_data_size, false);
if (what == "bone_name") {
r_ret = get_fabrik_joint_bone_name(which);
} else if (what == "bone_index") {
r_ret = get_fabrik_joint_bone_index(which);
} else if (what == "length") {
r_ret = get_fabrik_joint_length(which);
} else if (what == "magnet_position") {
r_ret = get_fabrik_joint_magnet(which);
} else if (what == "auto_calculate_length") {
r_ret = get_fabrik_joint_auto_calculate_length(which);
} else if (what == "use_tip_node") {
r_ret = get_fabrik_joint_use_tip_node(which);
} else if (what == "tip_node") {
r_ret = get_fabrik_joint_tip_node(which);
} else if (what == "use_target_basis") {
r_ret = get_fabrik_joint_use_target_basis(which);
} else if (what == "roll") {
r_ret = Math::rad_to_deg(get_fabrik_joint_roll(which));
}
return true;
}
return true;
}
void SkeletonModification3DFABRIK::_get_property_list(List<PropertyInfo> *p_list) const {
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
String base_string = "joint_data/" + itos(i) + "/";
p_list->push_back(PropertyInfo(Variant::STRING_NAME, base_string + "bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::INT, base_string + "bone_index", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "roll", PROPERTY_HINT_RANGE, "-360,360,0.01", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "auto_calculate_length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
if (!fabrik_data_chain[i].auto_calculate_length) {
p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
} else {
p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_tip_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
if (fabrik_data_chain[i].use_tip_node) {
p_list->push_back(PropertyInfo(Variant::NODE_PATH, base_string + "tip_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT));
}
}
// Cannot apply magnet to the origin of the chain, as it will not do anything.
if (i > 0) {
p_list->push_back(PropertyInfo(Variant::VECTOR3, base_string + "magnet_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
}
// Only give the override basis option on the last bone in the chain, so only include it for the last bone.
if (i == fabrik_data_chain.size() - 1) {
p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_target_basis", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
}
}
}
void SkeletonModification3DFABRIK::_execute(real_t 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()) {
_print_execution_error(true, "Target cache is out of date. Attempting to update...");
update_target_cache();
return;
}
if (_print_execution_error(fabrik_data_chain.size() <= 1, "FABRIK requires at least two joints to operate. Cannot execute modification!")) {
return;
}
Node3D *node_target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache));
if (_print_execution_error(!node_target || !node_target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) {
return;
}
// Make sure the transform cache is the correct size
if (fabrik_transforms.size() != fabrik_data_chain.size()) {
fabrik_transforms.resize(fabrik_data_chain.size());
}
// Verify that all joints have a valid bone ID, and that all bone lengths are zero or more
// Also, while we are here, apply magnet positions.
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
if (_print_execution_error(fabrik_data_chain[i].bone_idx < 0, "FABRIK Joint " + itos(i) + " has an invalid bone ID. Cannot execute!")) {
return;
}
if (fabrik_data_chain[i].length < 0 && fabrik_data_chain[i].auto_calculate_length) {
fabrik_joint_auto_calculate_length(i);
}
if (_print_execution_error(fabrik_data_chain[i].length < 0, "FABRIK Joint " + itos(i) + " has an invalid joint length. Cannot execute!")) {
return;
}
fabrik_transforms[i] = stack->skeleton->get_bone_global_pose(fabrik_data_chain[i].bone_idx);
// Apply magnet positions:
if (stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx) >= 0) {
int parent_bone_idx = stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx);
Transform3D conversion_transform = (stack->skeleton->get_bone_global_pose(parent_bone_idx));
fabrik_transforms[i].origin += conversion_transform.basis.xform_inv(fabrik_data_chain[i].magnet_position);
} else {
fabrik_transforms[i].origin += fabrik_data_chain[i].magnet_position;
}
}
Transform3D origin_global_pose_trans = stack->skeleton->get_bone_global_pose_no_override(fabrik_data_chain[0].bone_idx);
target_global_pose = stack->skeleton->world_transform_to_global_pose(node_target->get_global_transform());
origin_global_pose = origin_global_pose_trans;
final_joint_idx = fabrik_data_chain.size() - 1;
real_t target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin);
chain_iterations = 0;
while (target_distance > chain_tolerance) {
chain_backwards();
chain_forwards();
// update the target distance
target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin);
// update chain iterations
chain_iterations += 1;
if (chain_iterations >= chain_max_iterations) {
break;
}
}
chain_apply();
execution_error_found = false;
}
void SkeletonModification3DFABRIK::chain_backwards() {
int final_bone_idx = fabrik_data_chain[final_joint_idx].bone_idx;
Transform3D final_joint_trans = fabrik_transforms[final_joint_idx];
// Get the direction the final bone is facing in.
stack->skeleton->update_bone_rest_forward_vector(final_bone_idx);
Transform3D final_bone_direction_trans = final_joint_trans.looking_at(target_global_pose.origin, Vector3(0, 1, 0));
final_bone_direction_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(final_bone_idx, final_bone_direction_trans.basis);
Vector3 direction = final_bone_direction_trans.basis.xform(stack->skeleton->get_bone_axis_forward_vector(final_bone_idx)).normalized();
// If set to override, then use the target's Basis rather than the bone's
if (fabrik_data_chain[final_joint_idx].use_target_basis) {
direction = target_global_pose.basis.xform(stack->skeleton->get_bone_axis_forward_vector(final_bone_idx)).normalized();
}
// set the position of the final joint to the target position
final_joint_trans.origin = target_global_pose.origin - (direction * fabrik_data_chain[final_joint_idx].length);
fabrik_transforms[final_joint_idx] = final_joint_trans;
// for all other joints, move them towards the target
int i = final_joint_idx;
while (i >= 1) {
Transform3D next_bone_trans = fabrik_transforms[i];
i -= 1;
Transform3D current_trans = fabrik_transforms[i];
real_t length = fabrik_data_chain[i].length / (current_trans.origin.distance_to(next_bone_trans.origin));
current_trans.origin = next_bone_trans.origin.lerp(current_trans.origin, length);
// Save the result
fabrik_transforms[i] = current_trans;
}
}
void SkeletonModification3DFABRIK::chain_forwards() {
// Set root at the initial position.
Transform3D root_transform = fabrik_transforms[0];
root_transform.origin = origin_global_pose.origin;
fabrik_transforms[0] = origin_global_pose;
for (uint32_t i = 0; i < fabrik_data_chain.size() - 1; i++) {
Transform3D current_trans = fabrik_transforms[i];
Transform3D next_bone_trans = fabrik_transforms[i + 1];
real_t length = fabrik_data_chain[i].length / (next_bone_trans.origin.distance_to(current_trans.origin));
next_bone_trans.origin = current_trans.origin.lerp(next_bone_trans.origin, length);
// Save the result
fabrik_transforms[i + 1] = next_bone_trans;
}
}
void SkeletonModification3DFABRIK::chain_apply() {
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
int current_bone_idx = fabrik_data_chain[i].bone_idx;
Transform3D current_trans = fabrik_transforms[i];
// If this is the last bone in the chain...
if (i == fabrik_data_chain.size() - 1) {
if (fabrik_data_chain[i].use_target_basis == false) { // Point to target...
// Get the forward direction that the basis is facing in right now.
stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx);
// Rotate the bone towards the target:
current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(target_global_pose.origin));
current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
} else { // Use the target's Basis...
current_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale());
}
} else { // every other bone in the chain...
Transform3D next_trans = fabrik_transforms[i + 1];
// Get the forward direction that the basis is facing in right now.
stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx);
// Rotate the bone towards the next bone in the chain:
current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(next_trans.origin));
current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
}
stack->skeleton->set_bone_local_pose_override(current_bone_idx, stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans), stack->strength, true);
}
// Update all the bones so the next modification has up-to-date data.
stack->skeleton->force_update_all_bone_transforms();
}
void SkeletonModification3DFABRIK::_setup_modification(SkeletonModificationStack3D *p_stack) {
stack = p_stack;
if (stack != nullptr) {
is_setup = true;
execution_error_found = false;
update_target_cache();
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
update_joint_tip_cache(i);
}
}
}
void SkeletonModification3DFABRIK::update_target_cache() {
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update target cache: modification is not properly setup!");
return;
}
target_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree() && target_node.is_empty() == false) {
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 the scene tree!");
target_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DFABRIK::update_joint_tip_cache(int p_joint_idx) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_MSG(p_joint_idx, bone_chain_size, "FABRIK joint not found");
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update tip cache: modification is not properly setup!");
return;
}
fabrik_data_chain[p_joint_idx].tip_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree() && fabrik_data_chain[p_joint_idx].tip_node.is_empty() == false) {
if (stack->skeleton->has_node(fabrik_data_chain[p_joint_idx].tip_node)) {
Node *node = stack->skeleton->get_node(fabrik_data_chain[p_joint_idx].tip_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update tip cache for joint " + itos(p_joint_idx) + ": node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update tip cache for joint " + itos(p_joint_idx) + ": node is not in scene tree!");
fabrik_data_chain[p_joint_idx].tip_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DFABRIK::set_target_node(const NodePath &p_target_node) {
target_node = p_target_node;
update_target_cache();
}
NodePath SkeletonModification3DFABRIK::get_target_node() const {
return target_node;
}
int SkeletonModification3DFABRIK::get_fabrik_data_chain_length() {
return fabrik_data_chain.size();
}
void SkeletonModification3DFABRIK::set_fabrik_data_chain_length(int p_length) {
ERR_FAIL_COND(p_length < 0);
fabrik_data_chain.resize(p_length);
fabrik_transforms.resize(p_length);
execution_error_found = false;
notify_property_list_changed();
}
real_t SkeletonModification3DFABRIK::get_chain_tolerance() {
return chain_tolerance;
}
void SkeletonModification3DFABRIK::set_chain_tolerance(real_t p_tolerance) {
ERR_FAIL_COND_MSG(p_tolerance <= 0, "FABRIK chain tolerance must be more than zero!");
chain_tolerance = p_tolerance;
}
int SkeletonModification3DFABRIK::get_chain_max_iterations() {
return chain_max_iterations;
}
void SkeletonModification3DFABRIK::set_chain_max_iterations(int p_iterations) {
ERR_FAIL_COND_MSG(p_iterations <= 0, "FABRIK chain iterations must be at least one. Set enabled to false to disable the FABRIK chain.");
chain_max_iterations = p_iterations;
}
// FABRIK joint data functions
String SkeletonModification3DFABRIK::get_fabrik_joint_bone_name(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, String());
return fabrik_data_chain[p_joint_idx].bone_name;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_bone_name(int p_joint_idx, String p_bone_name) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].bone_name = p_bone_name;
if (stack) {
if (stack->skeleton) {
fabrik_data_chain[p_joint_idx].bone_idx = stack->skeleton->find_bone(p_bone_name);
}
}
execution_error_found = false;
notify_property_list_changed();
}
int SkeletonModification3DFABRIK::get_fabrik_joint_bone_index(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, -1);
return fabrik_data_chain[p_joint_idx].bone_idx;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
fabrik_data_chain[p_joint_idx].bone_idx = p_bone_idx;
if (stack) {
if (stack->skeleton) {
fabrik_data_chain[p_joint_idx].bone_name = stack->skeleton->get_bone_name(p_bone_idx);
}
}
execution_error_found = false;
notify_property_list_changed();
}
real_t SkeletonModification3DFABRIK::get_fabrik_joint_length(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, -1);
return fabrik_data_chain[p_joint_idx].length;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_length(int p_joint_idx, real_t p_bone_length) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ERR_FAIL_COND_MSG(p_bone_length < 0, "FABRIK joint length cannot be less than zero!");
if (!is_setup) {
fabrik_data_chain[p_joint_idx].length = p_bone_length;
return;
}
if (fabrik_data_chain[p_joint_idx].auto_calculate_length) {
WARN_PRINT("FABRIK Length not set: auto calculate length is enabled for this joint!");
fabrik_joint_auto_calculate_length(p_joint_idx);
} else {
fabrik_data_chain[p_joint_idx].length = p_bone_length;
}
execution_error_found = false;
}
Vector3 SkeletonModification3DFABRIK::get_fabrik_joint_magnet(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, Vector3());
return fabrik_data_chain[p_joint_idx].magnet_position;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_magnet(int p_joint_idx, Vector3 p_magnet) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].magnet_position = p_magnet;
}
bool SkeletonModification3DFABRIK::get_fabrik_joint_auto_calculate_length(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return fabrik_data_chain[p_joint_idx].auto_calculate_length;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_auto_calculate_length(int p_joint_idx, bool p_auto_calculate) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].auto_calculate_length = p_auto_calculate;
fabrik_joint_auto_calculate_length(p_joint_idx);
notify_property_list_changed();
}
void SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length(int p_joint_idx) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
if (!fabrik_data_chain[p_joint_idx].auto_calculate_length) {
return;
}
if (!stack || !stack->skeleton || !is_setup) {
_print_execution_error(true, "Cannot auto calculate joint length: modification is not properly setup!");
return;
}
ERR_FAIL_INDEX_MSG(fabrik_data_chain[p_joint_idx].bone_idx, stack->skeleton->get_bone_count(),
"Bone for joint " + itos(p_joint_idx) + " is not set or points to an unknown bone!");
if (fabrik_data_chain[p_joint_idx].use_tip_node) { // Use the tip node to update joint length.
update_joint_tip_cache(p_joint_idx);
Node3D *tip_node = Object::cast_to<Node3D>(ObjectDB::get_instance(fabrik_data_chain[p_joint_idx].tip_node_cache));
ERR_FAIL_COND_MSG(!tip_node, "Tip node for joint " + itos(p_joint_idx) + "is not a Node3D-based node. Cannot calculate length...");
ERR_FAIL_COND_MSG(!tip_node->is_inside_tree(), "Tip node for joint " + itos(p_joint_idx) + "is not in the scene tree. Cannot calculate length...");
Transform3D node_trans = tip_node->get_global_transform();
node_trans = stack->skeleton->world_transform_to_global_pose(node_trans);
//node_trans = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, node_trans);
//fabrik_data_chain[p_joint_idx].length = node_trans.origin.length();
fabrik_data_chain[p_joint_idx].length = stack->skeleton->get_bone_global_pose(fabrik_data_chain[p_joint_idx].bone_idx).origin.distance_to(node_trans.origin);
} else { // Use child bone(s) to update joint length, if possible
Vector<int> bone_children = stack->skeleton->get_bone_children(fabrik_data_chain[p_joint_idx].bone_idx);
if (bone_children.size() <= 0) {
ERR_FAIL_MSG("Cannot calculate length for joint " + itos(p_joint_idx) + "joint uses leaf bone. \nPlease manually set the bone length or use a tip node!");
return;
}
Transform3D bone_trans = stack->skeleton->get_bone_global_pose(fabrik_data_chain[p_joint_idx].bone_idx);
real_t final_length = 0;
for (int i = 0; i < bone_children.size(); i++) {
Transform3D child_transform = stack->skeleton->get_bone_global_pose(bone_children[i]);
final_length += bone_trans.origin.distance_to(child_transform.origin);
//final_length += stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, child_transform).origin.length();
}
fabrik_data_chain[p_joint_idx].length = final_length / bone_children.size();
}
execution_error_found = false;
notify_property_list_changed();
}
bool SkeletonModification3DFABRIK::get_fabrik_joint_use_tip_node(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return fabrik_data_chain[p_joint_idx].use_tip_node;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_use_tip_node(int p_joint_idx, bool p_use_tip_node) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].use_tip_node = p_use_tip_node;
notify_property_list_changed();
}
NodePath SkeletonModification3DFABRIK::get_fabrik_joint_tip_node(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, NodePath());
return fabrik_data_chain[p_joint_idx].tip_node;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_tip_node(int p_joint_idx, NodePath p_tip_node) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].tip_node = p_tip_node;
update_joint_tip_cache(p_joint_idx);
}
bool SkeletonModification3DFABRIK::get_fabrik_joint_use_target_basis(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return fabrik_data_chain[p_joint_idx].use_target_basis;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_use_target_basis(int p_joint_idx, bool p_use_target_basis) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].use_target_basis = p_use_target_basis;
}
real_t SkeletonModification3DFABRIK::get_fabrik_joint_roll(int p_joint_idx) const {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, 0.0);
return fabrik_data_chain[p_joint_idx].roll;
}
void SkeletonModification3DFABRIK::set_fabrik_joint_roll(int p_joint_idx, real_t p_roll) {
const int bone_chain_size = fabrik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
fabrik_data_chain[p_joint_idx].roll = p_roll;
}
void SkeletonModification3DFABRIK::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DFABRIK::set_target_node);
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DFABRIK::get_target_node);
ClassDB::bind_method(D_METHOD("set_fabrik_data_chain_length", "length"), &SkeletonModification3DFABRIK::set_fabrik_data_chain_length);
ClassDB::bind_method(D_METHOD("get_fabrik_data_chain_length"), &SkeletonModification3DFABRIK::get_fabrik_data_chain_length);
ClassDB::bind_method(D_METHOD("set_chain_tolerance", "tolerance"), &SkeletonModification3DFABRIK::set_chain_tolerance);
ClassDB::bind_method(D_METHOD("get_chain_tolerance"), &SkeletonModification3DFABRIK::get_chain_tolerance);
ClassDB::bind_method(D_METHOD("set_chain_max_iterations", "max_iterations"), &SkeletonModification3DFABRIK::set_chain_max_iterations);
ClassDB::bind_method(D_METHOD("get_chain_max_iterations"), &SkeletonModification3DFABRIK::get_chain_max_iterations);
// FABRIK joint data functions
ClassDB::bind_method(D_METHOD("get_fabrik_joint_bone_name", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_bone_name);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_bone_name", "joint_idx", "bone_name"), &SkeletonModification3DFABRIK::set_fabrik_joint_bone_name);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_bone_index", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_bone_index);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_bone_index", "joint_idx", "bone_index"), &SkeletonModification3DFABRIK::set_fabrik_joint_bone_index);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_length", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_length);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_length", "joint_idx", "length"), &SkeletonModification3DFABRIK::set_fabrik_joint_length);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_magnet", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_magnet);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_magnet", "joint_idx", "magnet_position"), &SkeletonModification3DFABRIK::set_fabrik_joint_magnet);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_auto_calculate_length", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_auto_calculate_length);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_auto_calculate_length", "joint_idx", "auto_calculate_length"), &SkeletonModification3DFABRIK::set_fabrik_joint_auto_calculate_length);
ClassDB::bind_method(D_METHOD("fabrik_joint_auto_calculate_length", "joint_idx"), &SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_use_tip_node", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_use_tip_node);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_use_tip_node", "joint_idx", "use_tip_node"), &SkeletonModification3DFABRIK::set_fabrik_joint_use_tip_node);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_tip_node", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_tip_node);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_tip_node", "joint_idx", "tip_node"), &SkeletonModification3DFABRIK::set_fabrik_joint_tip_node);
ClassDB::bind_method(D_METHOD("get_fabrik_joint_use_target_basis", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_use_target_basis);
ClassDB::bind_method(D_METHOD("set_fabrik_joint_use_target_basis", "joint_idx", "use_target_basis"), &SkeletonModification3DFABRIK::set_fabrik_joint_use_target_basis);
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "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");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "chain_tolerance", PROPERTY_HINT_RANGE, "0,100,0.001"), "set_chain_tolerance", "get_chain_tolerance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_max_iterations", PROPERTY_HINT_RANGE, "1,50,1"), "set_chain_max_iterations", "get_chain_max_iterations");
}
SkeletonModification3DFABRIK::SkeletonModification3DFABRIK() {
stack = nullptr;
is_setup = false;
enabled = true;
}
SkeletonModification3DFABRIK::~SkeletonModification3DFABRIK() {
}