diff options
| -rw-r--r-- | scene/3d/skeleton_ik_3d.cpp | 85 | ||||
| -rw-r--r-- | scene/3d/skeleton_ik_3d.h | 2 |
2 files changed, 71 insertions, 16 deletions
diff --git a/scene/3d/skeleton_ik_3d.cpp b/scene/3d/skeleton_ik_3d.cpp index 85da546430..6cde6a9b17 100644 --- a/scene/3d/skeleton_ik_3d.cpp +++ b/scene/3d/skeleton_ik_3d.cpp @@ -255,9 +255,22 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position) { if (blending_delta <= 0.01f) { + // Before skipping, make sure we undo the global pose overrides + ChainItem *ci(&p_task->chain.chain_root); + while (ci) { + p_task->skeleton->set_bone_global_pose_override(ci->bone, ci->initial_transform, 0.0, false); + + if (!ci->children.is_empty()) { + ci = &ci->children.write[0]; + } else { + ci = nullptr; + } + } + return; // Skip solving } + // This line below is part of the problem - removing it fixes the issue with BoneAttachment nodes... p_task->skeleton->set_bone_global_pose_override(p_task->chain.chain_root.bone, Transform(), 0.0, true); if (p_task->chain.middle_chain_item) { @@ -268,9 +281,9 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true); } - // Update the initial root transform - p_task->chain.chain_root.initial_transform = p_task->skeleton->get_bone_global_pose(p_task->chain.chain_root.bone); - p_task->chain.chain_root.current_pos = p_task->chain.chain_root.initial_transform.origin; + // Update the transforms to their global poses + // (Needed to sync IK with animation) + _update_chain(p_task->skeleton, &p_task->chain.chain_root); make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta); @@ -286,22 +299,48 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove Transform new_bone_pose(ci->initial_transform); new_bone_pose.origin = ci->current_pos; - if (!ci->children.is_empty()) { - /// Rotate basis - const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized()); - const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized()); - - if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) { - const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1))); - new_bone_pose.basis.rotate(rot_axis, rot_angle); + // The root bone needs to be rotated differently so it isn't frozen in place. + if (ci == &p_task->chain.chain_root && !ci->children.is_empty()) { + new_bone_pose = new_bone_pose.looking_at(ci->children[0].current_pos); + const Vector3 bone_rest_dir = p_task->skeleton->get_bone_rest(ci->children[0].bone).origin.normalized().abs(); + const Vector3 bone_rest_dir_abs = bone_rest_dir.abs(); + if (bone_rest_dir_abs.x > bone_rest_dir_abs.y && bone_rest_dir_abs.x > bone_rest_dir_abs.z) { + if (bone_rest_dir.x < 0) { + new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), -Math_PI / 2.0f); + } else { + new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), Math_PI / 2.0f); + } + } else if (bone_rest_dir_abs.y > bone_rest_dir_abs.x && bone_rest_dir_abs.y > bone_rest_dir_abs.z) { + if (bone_rest_dir.y < 0) { + new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), Math_PI / 2.0f); + } else { + new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), -Math_PI / 2.0f); + } + } else { + if (bone_rest_dir.z < 0) { + // Do nothing! + } else { + new_bone_pose.basis.rotate_local(Vector3(0, 0, 1), Math_PI); + } } - } else { - // Set target orientation to tip - if (override_tip_basis) { - new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis; + if (!ci->children.is_empty()) { + /// Rotate basis + const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized()); + const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized()); + + if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) { + const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1))); + new_bone_pose.basis.rotate(rot_axis, rot_angle); + } + } else { - new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis; + // Set target orientation to tip + if (override_tip_basis) { + new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis; + } else { + new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis; + } } } @@ -319,6 +358,20 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove } } +void FabrikInverseKinematic::_update_chain(const Skeleton3D *p_sk, ChainItem *p_chain_item) { + if (!p_chain_item) { + return; + } + + p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone); + p_chain_item->current_pos = p_chain_item->initial_transform.origin; + + ChainItem *items = p_chain_item->children.ptrw(); + for (int i = 0; i < p_chain_item->children.size(); i += 1) { + _update_chain(p_sk, items + i); + } +} + void SkeletonIK3D::_validate_property(PropertyInfo &property) const { if (property.name == "root_bone" || property.name == "tip_bone") { if (skeleton) { diff --git a/scene/3d/skeleton_ik_3d.h b/scene/3d/skeleton_ik_3d.h index c98f55804c..9255e18b72 100644 --- a/scene/3d/skeleton_ik_3d.h +++ b/scene/3d/skeleton_ik_3d.h @@ -118,6 +118,8 @@ public: static void set_goal(Task *p_task, const Transform &p_goal); static void make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta); static void solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position); + + static void _update_chain(const Skeleton3D *p_skeleton, ChainItem *p_chain_item); }; class SkeletonIK3D : public Node { |