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-rw-r--r--scene/3d/skeleton_ik_3d.h98
1 files changed, 37 insertions, 61 deletions
diff --git a/scene/3d/skeleton_ik_3d.h b/scene/3d/skeleton_ik_3d.h
index 5fbbe6e9e7..4cf08e7c99 100644
--- a/scene/3d/skeleton_ik_3d.h
+++ b/scene/3d/skeleton_ik_3d.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
@@ -33,66 +33,46 @@
#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;
+ Transform3D goal_transform;
};
struct ChainItem {
-
Vector<ChainItem> children;
- ChainItem *parent_item;
+ ChainItem *parent_item = nullptr;
// Bone info
- BoneId bone;
- PhysicalBone3D *pb;
+ BoneId bone = -1;
- real_t length;
+ real_t length = 0.0;
/// Positions relative to root bone
- Transform initial_transform;
+ Transform3D 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;
+ ChainItem *chain_item = nullptr;
+ const EndEffector *end_effector = nullptr;
- ChainTip() :
- chain_item(nullptr),
- end_effector(nullptr) {}
+ ChainTip() {}
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;
+ ChainItem *middle_chain_item = nullptr;
Vector<ChainTip> tips;
Vector3 magnet_position;
};
@@ -100,45 +80,41 @@ class FabrikInverseKinematic {
public:
struct Task {
RID self;
- Skeleton3D *skeleton;
+ Skeleton3D *skeleton = nullptr;
Chain chain;
// Settings
- real_t min_distance;
- int max_iterations;
+ real_t min_distance = 0.01;
+ int max_iterations = 10;
// Bone data
- BoneId root_bone;
+ BoneId root_bone = -1;
Vector<EndEffector> end_effectors;
- Transform goal_global_transform;
+ Transform3D goal_global_transform;
- Task() :
- skeleton(nullptr),
- min_distance(0.01),
- max_iterations(10),
- root_bone(-1) {}
+ Task() {}
};
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);
+ static void solve_simple(Task *p_task, bool p_solve_magnet, Vector3 p_origin_pos);
/// 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);
+ static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet, Vector3 p_origin_pos);
public:
- static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform);
+ static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform3D &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 set_goal(Task *p_task, const Transform3D &p_goal);
+ static void make_goal(Task *p_task, const Transform3D &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 {
@@ -146,23 +122,23 @@ class SkeletonIK3D : public Node {
StringName root_bone;
StringName tip_bone;
- real_t interpolation;
- Transform target;
+ real_t interpolation = 1.0;
+ Transform3D target;
NodePath target_node_path_override;
- bool override_tip_basis;
- bool use_magnet;
+ bool override_tip_basis = true;
+ bool use_magnet = false;
Vector3 magnet_position;
- real_t min_distance;
- int max_iterations;
+ real_t min_distance = 0.01;
+ int max_iterations = 10;
- Skeleton3D *skeleton;
- Node3D *target_node_override;
- FabrikInverseKinematic::Task *task;
+ Skeleton3D *skeleton = nullptr;
+ Node3D *target_node_override = nullptr;
+ FabrikInverseKinematic::Task *task = nullptr;
protected:
virtual void
- _validate_property(PropertyInfo &property) const;
+ _validate_property(PropertyInfo &property) const override;
static void _bind_methods();
virtual void _notification(int p_what);
@@ -180,8 +156,8 @@ public:
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_transform(const Transform3D &p_target);
+ const Transform3D &get_target_transform() const;
void set_target_node(const NodePath &p_node);
NodePath get_target_node();
@@ -209,7 +185,7 @@ public:
void stop();
private:
- Transform _get_target_transform();
+ Transform3D _get_target_transform();
void reload_chain();
void reload_goal();
void _solve_chain();
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-25 17:21:41 +0000