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-rw-r--r--demos/3d/inverse_kinematics/engine.cfg0
-rw-r--r--demos/3d/inverse_kinematics/main.scnbin0 -> 503 bytes
-rw-r--r--modules/ik/SCsub3
-rw-r--r--modules/ik/config.py11
-rw-r--r--modules/ik/ik.cpp326
-rw-r--r--modules/ik/ik.h74
-rw-r--r--modules/ik/register_types.cpp47
-rw-r--r--modules/ik/register_types.h30
8 files changed, 491 insertions, 0 deletions
diff --git a/demos/3d/inverse_kinematics/engine.cfg b/demos/3d/inverse_kinematics/engine.cfg
new file mode 100644
index 0000000000..e69de29bb2
--- /dev/null
+++ b/demos/3d/inverse_kinematics/engine.cfg
diff --git a/demos/3d/inverse_kinematics/main.scn b/demos/3d/inverse_kinematics/main.scn
new file mode 100644
index 0000000000..918fd09a3a
--- /dev/null
+++ b/demos/3d/inverse_kinematics/main.scn
Binary files differ
diff --git a/modules/ik/SCsub b/modules/ik/SCsub
new file mode 100644
index 0000000000..211a043468
--- /dev/null
+++ b/modules/ik/SCsub
@@ -0,0 +1,3 @@
+Import('env')
+
+env.add_source_files(env.modules_sources,"*.cpp")
diff --git a/modules/ik/config.py b/modules/ik/config.py
new file mode 100644
index 0000000000..f9bd7da08d
--- /dev/null
+++ b/modules/ik/config.py
@@ -0,0 +1,11 @@
+
+
+def can_build(platform):
+ return True
+
+
+def configure(env):
+ pass
+
+
+
diff --git a/modules/ik/ik.cpp b/modules/ik/ik.cpp
new file mode 100644
index 0000000000..6c383fdb55
--- /dev/null
+++ b/modules/ik/ik.cpp
@@ -0,0 +1,326 @@
+/*************************************************************************/
+/* ik.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* This file is Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com> */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+
+#include "ik.h"
+
+bool InverseKinematics::_get(const StringName& p_name,Variant &r_ret) const
+{
+
+ if (String(p_name)=="ik_bone") {
+
+ r_ret=get_bone_name();
+ return true;
+ }
+
+ return false;
+}
+
+bool InverseKinematics::_set(const StringName& p_name, const Variant& p_value)
+{
+
+ if (String(p_name)=="ik_bone") {
+
+ set_bone_name(p_value);
+ changed = true;
+ return true;
+ }
+
+ return false;
+}
+
+void InverseKinematics::_get_property_list( List<PropertyInfo>* p_list ) const
+{
+
+ Skeleton *parent=NULL;
+ if(get_parent())
+ parent=get_parent()->cast_to<Skeleton>();
+
+ if (parent) {
+
+ String names;
+ for(int i=0;i<parent->get_bone_count();i++) {
+ if(i>0)
+ names+=",";
+ names+=parent->get_bone_name(i);
+ }
+
+ p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone",PROPERTY_HINT_ENUM,names));
+ } else {
+
+ p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone"));
+
+ }
+
+}
+
+void InverseKinematics::_check_bind()
+{
+
+ if (get_parent() && get_parent()->cast_to<Skeleton>()) {
+ Skeleton *sk = get_parent()->cast_to<Skeleton>();
+ int idx = sk->find_bone(ik_bone);
+ if (idx!=-1) {
+ ik_bone_no = idx;
+ bound=true;
+ }
+ skel = sk;
+ }
+}
+
+void InverseKinematics::_check_unbind()
+{
+
+ if (bound) {
+
+ if (get_parent() && get_parent()->cast_to<Skeleton>()) {
+ Skeleton *sk = get_parent()->cast_to<Skeleton>();
+ int idx = sk->find_bone(ik_bone);
+ if (idx!=-1)
+ ik_bone_no = idx;
+ else
+ ik_bone_no = 0;
+ skel = sk;
+
+ }
+ bound=false;
+ }
+}
+
+
+void InverseKinematics::set_bone_name(const String& p_name)
+{
+
+ if (is_inside_tree())
+ _check_unbind();
+
+ ik_bone=p_name;
+
+ if (is_inside_tree())
+ _check_bind();
+ changed = true;
+}
+
+String InverseKinematics::get_bone_name() const
+{
+
+ return ik_bone;
+}
+
+void InverseKinematics::set_iterations(int itn)
+{
+
+ if (is_inside_tree())
+ _check_unbind();
+
+ iterations=itn;
+
+ if (is_inside_tree())
+ _check_bind();
+ changed = true;
+}
+
+int InverseKinematics::get_iterations() const
+{
+
+ return iterations;
+}
+
+void InverseKinematics::set_chain_size(int cs)
+{
+ if (is_inside_tree())
+ _check_unbind();
+
+ chain_size=cs;
+ chain.clear();
+ if (bound)
+ update_parameters();
+
+ if (is_inside_tree())
+ _check_bind();
+ changed = true;
+}
+
+int InverseKinematics::get_chain_size() const
+{
+
+ return chain_size;
+}
+
+void InverseKinematics::set_precision(float p)
+{
+
+ if (is_inside_tree())
+ _check_unbind();
+
+ precision=p;
+
+ if (is_inside_tree())
+ _check_bind();
+ changed = true;
+}
+
+float InverseKinematics::get_precision() const
+{
+
+ return precision;
+}
+
+void InverseKinematics::set_speed(float p)
+{
+
+ if (is_inside_tree())
+ _check_unbind();
+
+ speed=p;
+
+ if (is_inside_tree())
+ _check_bind();
+ changed = true;
+}
+
+float InverseKinematics::get_speed() const
+{
+
+ return speed;
+}
+
+void InverseKinematics::update_parameters()
+{
+ tail_bone = -1;
+ for (int i = 0; i < skel->get_bone_count(); i++)
+ if (skel->get_bone_parent(i) == ik_bone_no)
+ tail_bone = i;
+ int cur_bone = ik_bone_no;
+ int its = chain_size;
+ while (its > 0 && cur_bone >= 0) {
+ chain.push_back(cur_bone);
+ cur_bone = skel->get_bone_parent(cur_bone);
+ its--;
+ }
+}
+
+void InverseKinematics::_notification(int p_what)
+{
+
+ switch(p_what) {
+
+ case NOTIFICATION_ENTER_TREE: {
+
+ _check_bind();
+ if (bound) {
+ update_parameters();
+ changed = false;
+ set_process(true);
+ }
+ } break;
+ case NOTIFICATION_PROCESS: {
+ float delta = get_process_delta_time();
+ Spatial *sksp = skel->cast_to<Spatial>();
+ if (!bound)
+ break;
+ if (!sksp)
+ break;
+ if (changed) {
+ update_parameters();
+ changed = false;
+ }
+ Vector3 to = get_translation();
+ for (int hump = 0; hump < iterations; hump++) {
+ int depth = 0;
+ float olderr = 1000.0;
+ float psign = 1.0;
+ bool reached = false;
+
+ for (List<int>::Element *b = chain.front(); b; b = b->next()) {
+ int cur_bone = b->get();
+ Vector3 d = skel->get_bone_global_pose(tail_bone).origin;
+ Vector3 rg = to;
+ float err = d.distance_squared_to(rg);
+ if (err < precision) {
+ if (!reached && err < precision)
+ reached = true;
+ break;
+ } else
+ if (reached)
+ reached = false;
+ if (err > olderr)
+ psign = -psign;
+ Transform mod = skel->get_bone_global_pose(cur_bone);
+ Quat q1 = Quat(mod.basis).normalized();
+ Transform mod2 = mod.looking_at(to, Vector3(0.0, 1.0, 0.0));
+ Quat q2 = Quat(mod2.basis).normalized();
+ if (psign < 0.0)
+ q2 = q2.inverse();
+ Quat q = q1.slerp(q2, speed / (1.0 + 500.0 * depth)).normalized();
+ Transform fin = Transform(q);
+ fin.origin = mod.origin;
+ skel->set_bone_global_pose(cur_bone, fin);
+ depth++;
+ }
+ if (reached)
+ break;
+
+ }
+
+ } break;
+ case NOTIFICATION_EXIT_TREE: {
+ set_process(false);
+
+ _check_unbind();
+ } break;
+ }
+}
+void InverseKinematics::_bind_methods() {
+ ObjectTypeDB::bind_method(_MD("set_bone_name","ik_bone"),&InverseKinematics::set_bone_name);
+ ObjectTypeDB::bind_method(_MD("get_bone_name"),&InverseKinematics::get_bone_name);
+ ObjectTypeDB::bind_method(_MD("set_iterations","iterations"),&InverseKinematics::set_iterations);
+ ObjectTypeDB::bind_method(_MD("get_iterations"),&InverseKinematics::get_iterations);
+ ObjectTypeDB::bind_method(_MD("set_chain_size","chain_size"),&InverseKinematics::set_chain_size);
+ ObjectTypeDB::bind_method(_MD("get_chain_size"),&InverseKinematics::get_chain_size);
+ ObjectTypeDB::bind_method(_MD("set_precision","precision"),&InverseKinematics::set_precision);
+ ObjectTypeDB::bind_method(_MD("get_precision"),&InverseKinematics::get_precision);
+ ObjectTypeDB::bind_method(_MD("set_speed","speed"),&InverseKinematics::set_speed);
+ ObjectTypeDB::bind_method(_MD("get_speed"),&InverseKinematics::get_speed);
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "iterations"), _SCS("set_iterations"), _SCS("get_iterations"));
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_size"), _SCS("set_chain_size"), _SCS("get_chain_size"));
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "precision"), _SCS("set_precision"), _SCS("get_precision"));
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "speed"), _SCS("set_speed"), _SCS("get_speed"));
+}
+
+InverseKinematics::InverseKinematics()
+{
+ bound=false;
+ chain_size = 2;
+ iterations = 100;
+ precision = 0.001;
+ speed = 0.2;
+
+}
+
diff --git a/modules/ik/ik.h b/modules/ik/ik.h
new file mode 100644
index 0000000000..9daddb229d
--- /dev/null
+++ b/modules/ik/ik.h
@@ -0,0 +1,74 @@
+/*************************************************************************/
+/* ik.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* This file is (c) 2016 Sergey Lapin <slapinid@gmail.com> */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+#ifndef IK_H
+#define IK_H
+
+#include "scene/3d/skeleton.h"
+class InverseKinematics : public Spatial {
+ OBJ_TYPE(InverseKinematics, Spatial);
+ bool bound;
+ String ik_bone;
+ int ik_bone_no;
+ int tail_bone;
+ int chain_size;
+ Skeleton *skel;
+ List<int> chain;
+ void _check_bind();
+ void _check_unbind();
+ int iterations;
+ float precision;
+ float speed;
+ bool changed;
+
+protected:
+ bool _set(const StringName& p_name, const Variant& p_value);
+ bool _get(const StringName& p_name,Variant &r_ret) const;
+ void _get_property_list( List<PropertyInfo> *p_list) const;
+
+ void _notification(int p_what);
+ static void _bind_methods();
+ void update_parameters();
+public:
+ Skeleton *get_skeleton();
+ void set_bone_name(const String& p_name);
+ String get_bone_name() const;
+ void set_iterations(int itn);
+ int get_iterations() const;
+ void set_chain_size(int cs);
+ int get_chain_size() const;
+ void set_precision(float p);
+ float get_precision() const;
+ void set_speed(float p);
+ float get_speed() const;
+ InverseKinematics();
+};
+
+#endif
+
diff --git a/modules/ik/register_types.cpp b/modules/ik/register_types.cpp
new file mode 100644
index 0000000000..e7df7f55b2
--- /dev/null
+++ b/modules/ik/register_types.cpp
@@ -0,0 +1,47 @@
+/*************************************************************************/
+/* register_types.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+#include "register_types.h"
+#ifndef _3D_DISABLED
+#include "object_type_db.h"
+#include "ik.h"
+#endif
+
+void register_ik_types() {
+
+#ifndef _3D_DISABLED
+ ObjectTypeDB::register_type<InverseKinematics>();
+#endif
+}
+
+
+
+void unregister_ik_types() {
+
+
+}
diff --git a/modules/ik/register_types.h b/modules/ik/register_types.h
new file mode 100644
index 0000000000..828917ade7
--- /dev/null
+++ b/modules/ik/register_types.h
@@ -0,0 +1,30 @@
+/*************************************************************************/
+/* register_types.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+void register_ik_types();
+void unregister_ik_types();
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-11 08:10:14 +0000