mirror of
https://github.com/godotengine/godot.git
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59e11934d8
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`
629 lines
30 KiB
C++
629 lines
30 KiB
C++
/*************************************************************************/
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/* skeleton_modification_3d_fabrik.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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "scene/resources/skeleton_modification_3d_fabrik.h"
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#include "scene/3d/skeleton_3d.h"
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#include "scene/resources/skeleton_modification_3d.h"
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bool SkeletonModification3DFABRIK::_set(const StringName &p_path, const Variant &p_value) {
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String path = p_path;
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if (path.begins_with("joint_data/")) {
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int fabrik_data_size = fabrik_data_chain.size();
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int which = path.get_slicec('/', 1).to_int();
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String what = path.get_slicec('/', 2);
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ERR_FAIL_INDEX_V(which, fabrik_data_size, false);
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if (what == "bone_name") {
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set_fabrik_joint_bone_name(which, p_value);
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} else if (what == "bone_index") {
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set_fabrik_joint_bone_index(which, p_value);
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} else if (what == "length") {
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set_fabrik_joint_length(which, p_value);
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} else if (what == "magnet_position") {
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set_fabrik_joint_magnet(which, p_value);
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} else if (what == "auto_calculate_length") {
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set_fabrik_joint_auto_calculate_length(which, p_value);
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} else if (what == "use_tip_node") {
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set_fabrik_joint_use_tip_node(which, p_value);
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} else if (what == "tip_node") {
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set_fabrik_joint_tip_node(which, p_value);
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} else if (what == "use_target_basis") {
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set_fabrik_joint_use_target_basis(which, p_value);
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} else if (what == "roll") {
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set_fabrik_joint_roll(which, Math::deg_to_rad(real_t(p_value)));
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}
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return true;
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}
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return true;
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}
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bool SkeletonModification3DFABRIK::_get(const StringName &p_path, Variant &r_ret) const {
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String path = p_path;
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if (path.begins_with("joint_data/")) {
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const int fabrik_data_size = fabrik_data_chain.size();
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int which = path.get_slicec('/', 1).to_int();
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String what = path.get_slicec('/', 2);
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ERR_FAIL_INDEX_V(which, fabrik_data_size, false);
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if (what == "bone_name") {
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r_ret = get_fabrik_joint_bone_name(which);
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} else if (what == "bone_index") {
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r_ret = get_fabrik_joint_bone_index(which);
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} else if (what == "length") {
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r_ret = get_fabrik_joint_length(which);
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} else if (what == "magnet_position") {
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r_ret = get_fabrik_joint_magnet(which);
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} else if (what == "auto_calculate_length") {
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r_ret = get_fabrik_joint_auto_calculate_length(which);
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} else if (what == "use_tip_node") {
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r_ret = get_fabrik_joint_use_tip_node(which);
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} else if (what == "tip_node") {
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r_ret = get_fabrik_joint_tip_node(which);
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} else if (what == "use_target_basis") {
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r_ret = get_fabrik_joint_use_target_basis(which);
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} else if (what == "roll") {
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r_ret = Math::rad_to_deg(get_fabrik_joint_roll(which));
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}
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return true;
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}
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return true;
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}
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void SkeletonModification3DFABRIK::_get_property_list(List<PropertyInfo> *p_list) const {
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for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
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String base_string = "joint_data/" + itos(i) + "/";
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p_list->push_back(PropertyInfo(Variant::STRING_NAME, base_string + "bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::INT, base_string + "bone_index", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "roll", PROPERTY_HINT_RANGE, "-360,360,0.01", PROPERTY_USAGE_DEFAULT));
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p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "auto_calculate_length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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if (!fabrik_data_chain[i].auto_calculate_length) {
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p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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} else {
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p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_tip_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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if (fabrik_data_chain[i].use_tip_node) {
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p_list->push_back(PropertyInfo(Variant::NODE_PATH, base_string + "tip_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT));
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}
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}
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// Cannot apply magnet to the origin of the chain, as it will not do anything.
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if (i > 0) {
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p_list->push_back(PropertyInfo(Variant::VECTOR3, base_string + "magnet_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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}
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// Only give the override basis option on the last bone in the chain, so only include it for the last bone.
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if (i == fabrik_data_chain.size() - 1) {
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p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_target_basis", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
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}
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}
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}
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void SkeletonModification3DFABRIK::_execute(real_t 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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_print_execution_error(true, "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 (_print_execution_error(fabrik_data_chain.size() <= 1, "FABRIK requires at least two joints to operate. Cannot execute modification!")) {
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return;
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}
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Node3D *node_target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache));
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if (_print_execution_error(!node_target || !node_target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) {
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return;
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}
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// Make sure the transform cache is the correct size
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if (fabrik_transforms.size() != fabrik_data_chain.size()) {
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fabrik_transforms.resize(fabrik_data_chain.size());
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}
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// Verify that all joints have a valid bone ID, and that all bone lengths are zero or more
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// Also, while we are here, apply magnet positions.
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for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
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if (_print_execution_error(fabrik_data_chain[i].bone_idx < 0, "FABRIK Joint " + itos(i) + " has an invalid bone ID. Cannot execute!")) {
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return;
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}
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if (fabrik_data_chain[i].length < 0 && fabrik_data_chain[i].auto_calculate_length) {
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fabrik_joint_auto_calculate_length(i);
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}
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if (_print_execution_error(fabrik_data_chain[i].length < 0, "FABRIK Joint " + itos(i) + " has an invalid joint length. Cannot execute!")) {
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return;
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}
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fabrik_transforms[i] = stack->skeleton->get_bone_global_pose(fabrik_data_chain[i].bone_idx);
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// Apply magnet positions:
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if (stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx) >= 0) {
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int parent_bone_idx = stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx);
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Transform3D conversion_transform = (stack->skeleton->get_bone_global_pose(parent_bone_idx));
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fabrik_transforms[i].origin += conversion_transform.basis.xform_inv(fabrik_data_chain[i].magnet_position);
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} else {
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fabrik_transforms[i].origin += fabrik_data_chain[i].magnet_position;
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}
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}
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Transform3D origin_global_pose_trans = stack->skeleton->get_bone_global_pose_no_override(fabrik_data_chain[0].bone_idx);
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target_global_pose = stack->skeleton->world_transform_to_global_pose(node_target->get_global_transform());
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origin_global_pose = origin_global_pose_trans;
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final_joint_idx = fabrik_data_chain.size() - 1;
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real_t target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin);
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chain_iterations = 0;
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while (target_distance > chain_tolerance) {
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chain_backwards();
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chain_forwards();
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// update the target distance
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target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin);
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// update chain iterations
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chain_iterations += 1;
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if (chain_iterations >= chain_max_iterations) {
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break;
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}
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}
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chain_apply();
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execution_error_found = false;
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}
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void SkeletonModification3DFABRIK::chain_backwards() {
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int final_bone_idx = fabrik_data_chain[final_joint_idx].bone_idx;
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Transform3D final_joint_trans = fabrik_transforms[final_joint_idx];
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// Get the direction the final bone is facing in.
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stack->skeleton->update_bone_rest_forward_vector(final_bone_idx);
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Transform3D final_bone_direction_trans = final_joint_trans.looking_at(target_global_pose.origin, Vector3(0, 1, 0));
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final_bone_direction_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(final_bone_idx, final_bone_direction_trans.basis);
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Vector3 direction = final_bone_direction_trans.basis.xform(stack->skeleton->get_bone_axis_forward_vector(final_bone_idx)).normalized();
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// If set to override, then use the target's Basis rather than the bone's
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if (fabrik_data_chain[final_joint_idx].use_target_basis) {
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direction = target_global_pose.basis.xform(stack->skeleton->get_bone_axis_forward_vector(final_bone_idx)).normalized();
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}
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// set the position of the final joint to the target position
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final_joint_trans.origin = target_global_pose.origin - (direction * fabrik_data_chain[final_joint_idx].length);
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fabrik_transforms[final_joint_idx] = final_joint_trans;
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// for all other joints, move them towards the target
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int i = final_joint_idx;
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while (i >= 1) {
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Transform3D next_bone_trans = fabrik_transforms[i];
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i -= 1;
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Transform3D current_trans = fabrik_transforms[i];
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real_t length = fabrik_data_chain[i].length / (current_trans.origin.distance_to(next_bone_trans.origin));
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current_trans.origin = next_bone_trans.origin.lerp(current_trans.origin, length);
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// Save the result
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fabrik_transforms[i] = current_trans;
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}
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}
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void SkeletonModification3DFABRIK::chain_forwards() {
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// Set root at the initial position.
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Transform3D root_transform = fabrik_transforms[0];
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root_transform.origin = origin_global_pose.origin;
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fabrik_transforms[0] = origin_global_pose;
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for (uint32_t i = 0; i < fabrik_data_chain.size() - 1; i++) {
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Transform3D current_trans = fabrik_transforms[i];
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Transform3D next_bone_trans = fabrik_transforms[i + 1];
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real_t length = fabrik_data_chain[i].length / (next_bone_trans.origin.distance_to(current_trans.origin));
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next_bone_trans.origin = current_trans.origin.lerp(next_bone_trans.origin, length);
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// Save the result
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fabrik_transforms[i + 1] = next_bone_trans;
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}
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}
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void SkeletonModification3DFABRIK::chain_apply() {
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for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
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int current_bone_idx = fabrik_data_chain[i].bone_idx;
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Transform3D current_trans = fabrik_transforms[i];
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// If this is the last bone in the chain...
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if (i == fabrik_data_chain.size() - 1) {
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if (fabrik_data_chain[i].use_target_basis == false) { // Point to target...
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// Get the forward direction that the basis is facing in right now.
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stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
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Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx);
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// Rotate the bone towards the target:
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current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(target_global_pose.origin));
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current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
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} else { // Use the target's Basis...
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current_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale());
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}
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} else { // every other bone in the chain...
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Transform3D next_trans = fabrik_transforms[i + 1];
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// Get the forward direction that the basis is facing in right now.
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stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
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Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx);
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// Rotate the bone towards the next bone in the chain:
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current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(next_trans.origin));
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current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
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}
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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);
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}
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// Update all the bones so the next modification has up-to-date data.
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stack->skeleton->force_update_all_bone_transforms();
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}
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void SkeletonModification3DFABRIK::_setup_modification(SkeletonModificationStack3D *p_stack) {
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stack = p_stack;
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if (stack != nullptr) {
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is_setup = true;
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execution_error_found = false;
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update_target_cache();
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for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
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update_joint_tip_cache(i);
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}
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}
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}
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void SkeletonModification3DFABRIK::update_target_cache() {
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if (!is_setup || !stack) {
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_print_execution_error(true, "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() && target_node.is_empty() == false) {
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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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execution_error_found = false;
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}
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}
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}
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}
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void SkeletonModification3DFABRIK::update_joint_tip_cache(int p_joint_idx) {
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const int bone_chain_size = fabrik_data_chain.size();
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ERR_FAIL_INDEX_MSG(p_joint_idx, bone_chain_size, "FABRIK joint not found");
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if (!is_setup || !stack) {
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_print_execution_error(true, "Cannot update tip cache: modification is not properly setup!");
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return;
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}
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fabrik_data_chain[p_joint_idx].tip_node_cache = ObjectID();
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if (stack->skeleton) {
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if (stack->skeleton->is_inside_tree() && fabrik_data_chain[p_joint_idx].tip_node.is_empty() == false) {
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if (stack->skeleton->has_node(fabrik_data_chain[p_joint_idx].tip_node)) {
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Node *node = stack->skeleton->get_node(fabrik_data_chain[p_joint_idx].tip_node);
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ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
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"Cannot update tip cache for joint " + itos(p_joint_idx) + ": 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 tip cache for joint " + itos(p_joint_idx) + ": node is not in scene tree!");
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fabrik_data_chain[p_joint_idx].tip_node_cache = node->get_instance_id();
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execution_error_found = false;
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}
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}
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}
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}
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void SkeletonModification3DFABRIK::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 SkeletonModification3DFABRIK::get_target_node() const {
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return target_node;
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}
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int SkeletonModification3DFABRIK::get_fabrik_data_chain_length() {
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return fabrik_data_chain.size();
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}
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void SkeletonModification3DFABRIK::set_fabrik_data_chain_length(int p_length) {
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ERR_FAIL_COND(p_length < 0);
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fabrik_data_chain.resize(p_length);
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fabrik_transforms.resize(p_length);
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execution_error_found = false;
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notify_property_list_changed();
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}
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real_t SkeletonModification3DFABRIK::get_chain_tolerance() {
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return chain_tolerance;
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}
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void SkeletonModification3DFABRIK::set_chain_tolerance(real_t p_tolerance) {
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ERR_FAIL_COND_MSG(p_tolerance <= 0, "FABRIK chain tolerance must be more than zero!");
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chain_tolerance = p_tolerance;
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}
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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;
|
|
}
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|
|
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// 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());
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|
return fabrik_data_chain[p_joint_idx].bone_name;
|
|
}
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|
|
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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;
|
|
}
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|
|
|
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() {
|
|
}
|