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-rw-r--r--modules/ik/ik.cpp326
1 files changed, 0 insertions, 326 deletions
diff --git a/modules/ik/ik.cpp b/modules/ik/ik.cpp
deleted file mode 100644
index 35b3ba7e83..0000000000
--- a/modules/ik/ik.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-/*************************************************************************/
-/* ik.cpp */
-/* Copyright (c) 2016 Sergey Lapin <slapinid@gmail.com> */
-/*************************************************************************/
-/* 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 "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: {
-
- 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;
-
-}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 22:22:29 +0000