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Diffstat (limited to 'scene/3d/skeleton_ik_3d.h')
| -rw-r--r-- | scene/3d/skeleton_ik_3d.h | 220 |
1 files changed, 220 insertions, 0 deletions
diff --git a/scene/3d/skeleton_ik_3d.h b/scene/3d/skeleton_ik_3d.h new file mode 100644 index 0000000000..5fbbe6e9e7 --- /dev/null +++ b/scene/3d/skeleton_ik_3d.h @@ -0,0 +1,220 @@ +/*************************************************************************/ +/* skeleton_ik_3d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 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. */ +/*************************************************************************/ + +#ifndef SKELETON_IK_H +#define SKELETON_IK_H + +#ifndef _3D_DISABLED + +/** + * @author AndreaCatania + */ + +#include "core/math/transform.h" +#include "scene/3d/skeleton_3d.h" + +class FabrikInverseKinematic { + + struct EndEffector { + BoneId tip_bone; + Transform goal_transform; + }; + + struct ChainItem { + + Vector<ChainItem> children; + ChainItem *parent_item; + + // Bone info + BoneId bone; + PhysicalBone3D *pb; + + real_t length; + /// Positions relative to root bone + Transform initial_transform; + Vector3 current_pos; + // Direction from this bone to child + Vector3 current_ori; + + ChainItem() : + parent_item(nullptr), + bone(-1), + pb(nullptr), + length(0) {} + + ChainItem *find_child(const BoneId p_bone_id); + ChainItem *add_child(const BoneId p_bone_id); + }; + + struct ChainTip { + ChainItem *chain_item; + const EndEffector *end_effector; + + ChainTip() : + chain_item(nullptr), + end_effector(nullptr) {} + + ChainTip(ChainItem *p_chain_item, const EndEffector *p_end_effector) : + chain_item(p_chain_item), + end_effector(p_end_effector) {} + + ChainTip(const ChainTip &p_other_ct) : + chain_item(p_other_ct.chain_item), + end_effector(p_other_ct.end_effector) {} + }; + + struct Chain { + ChainItem chain_root; + ChainItem *middle_chain_item; + Vector<ChainTip> tips; + Vector3 magnet_position; + }; + +public: + struct Task { + RID self; + Skeleton3D *skeleton; + + Chain chain; + + // Settings + real_t min_distance; + int max_iterations; + + // Bone data + BoneId root_bone; + Vector<EndEffector> end_effectors; + + Transform goal_global_transform; + + Task() : + skeleton(nullptr), + min_distance(0.01), + max_iterations(10), + root_bone(-1) {} + }; + +private: + /// Init a chain that starts from the root to tip + static bool build_chain(Task *p_task, bool p_force_simple_chain = true); + + static void update_chain(const Skeleton3D *p_sk, ChainItem *p_chain_item); + + static void solve_simple(Task *p_task, bool p_solve_magnet); + /// Special solvers that solve only chains with one end effector + static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet); + static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet); + +public: + static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform); + static void free_task(Task *p_task); + // The goal of chain should be always in local space + 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); +}; + +class SkeletonIK3D : public Node { + GDCLASS(SkeletonIK3D, Node); + + StringName root_bone; + StringName tip_bone; + real_t interpolation; + Transform target; + NodePath target_node_path_override; + bool override_tip_basis; + bool use_magnet; + Vector3 magnet_position; + + real_t min_distance; + int max_iterations; + + Skeleton3D *skeleton; + Node3D *target_node_override; + FabrikInverseKinematic::Task *task; + +protected: + virtual void + _validate_property(PropertyInfo &property) const; + + static void _bind_methods(); + virtual void _notification(int p_what); + +public: + SkeletonIK3D(); + virtual ~SkeletonIK3D(); + + void set_root_bone(const StringName &p_root_bone); + StringName get_root_bone() const; + + void set_tip_bone(const StringName &p_tip_bone); + StringName get_tip_bone() const; + + void set_interpolation(real_t p_interpolation); + real_t get_interpolation() const; + + void set_target_transform(const Transform &p_target); + const Transform &get_target_transform() const; + + void set_target_node(const NodePath &p_node); + NodePath get_target_node(); + + void set_override_tip_basis(bool p_override); + bool is_override_tip_basis() const; + + void set_use_magnet(bool p_use); + bool is_using_magnet() const; + + void set_magnet_position(const Vector3 &p_local_position); + const Vector3 &get_magnet_position() const; + + void set_min_distance(real_t p_min_distance); + real_t get_min_distance() const { return min_distance; } + + void set_max_iterations(int p_iterations); + int get_max_iterations() const { return max_iterations; } + + Skeleton3D *get_parent_skeleton() const { return skeleton; } + + bool is_running(); + + void start(bool p_one_time = false); + void stop(); + +private: + Transform _get_target_transform(); + void reload_chain(); + void reload_goal(); + void _solve_chain(); +}; + +#endif // _3D_DISABLED + +#endif // SKELETON_IK_H |