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-rw-r--r--scene/3d/skeleton_3d.cpp87
-rw-r--r--scene/3d/skeleton_3d.h2
-rw-r--r--scene/3d/skeleton_ik_3d.cpp69
3 files changed, 68 insertions, 90 deletions
diff --git a/scene/3d/skeleton_3d.cpp b/scene/3d/skeleton_3d.cpp
index ebbb8985c9..59233708f6 100644
--- a/scene/3d/skeleton_3d.cpp
+++ b/scene/3d/skeleton_3d.cpp
@@ -237,53 +237,57 @@ void Skeleton3D::_notification(int p_what) {
for (int i = 0; i < len; i++) {
Bone &b = bonesptr[order[i]];
- if (b.global_pose_override_amount >= 0.999) {
- b.pose_global = b.global_pose_override;
- } else {
- if (b.disable_rest) {
- if (b.enabled) {
- Transform pose = b.pose;
- if (b.custom_pose_enable) {
- pose = b.custom_pose * pose;
- }
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global * pose;
- } else {
- b.pose_global = pose;
- }
+ if (b.disable_rest) {
+ if (b.enabled) {
+ Transform pose = b.pose;
+ if (b.custom_pose_enable) {
+ pose = b.custom_pose * pose;
+ }
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global * pose;
+ b.pose_global_no_override = bonesptr[b.parent].pose_global * pose;
} else {
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global;
- } else {
- b.pose_global = Transform();
- }
+ b.pose_global = pose;
+ b.pose_global_no_override = pose;
}
-
} else {
- if (b.enabled) {
- Transform pose = b.pose;
- if (b.custom_pose_enable) {
- pose = b.custom_pose * pose;
- }
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global * (b.rest * pose);
- } else {
- b.pose_global = b.rest * pose;
- }
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global;
+ b.pose_global_no_override = bonesptr[b.parent].pose_global;
} else {
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global * b.rest;
- } else {
- b.pose_global = b.rest;
- }
+ b.pose_global = Transform();
+ b.pose_global_no_override = Transform();
}
}
- if (b.global_pose_override_amount >= CMP_EPSILON) {
- b.pose_global = b.pose_global.interpolate_with(b.global_pose_override, b.global_pose_override_amount);
+ } else {
+ if (b.enabled) {
+ Transform pose = b.pose;
+ if (b.custom_pose_enable) {
+ pose = b.custom_pose * pose;
+ }
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global * (b.rest * pose);
+ b.pose_global_no_override = bonesptr[b.parent].pose_global * (b.rest * pose);
+ } else {
+ b.pose_global = b.rest * pose;
+ b.pose_global_no_override = b.rest * pose;
+ }
+ } else {
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global * b.rest;
+ b.pose_global_no_override = bonesptr[b.parent].pose_global * b.rest;
+ } else {
+ b.pose_global = b.rest;
+ b.pose_global_no_override = b.rest;
+ }
}
}
+ if (b.global_pose_override_amount >= CMP_EPSILON) {
+ b.pose_global = b.pose_global.interpolate_with(b.global_pose_override, b.global_pose_override_amount);
+ }
+
if (b.global_pose_override_reset) {
b.global_pose_override_amount = 0.0;
}
@@ -408,6 +412,14 @@ Transform Skeleton3D::get_bone_global_pose(int p_bone) const {
return bones[p_bone].pose_global;
}
+Transform Skeleton3D::get_bone_global_pose_no_override(int p_bone) const {
+ ERR_FAIL_INDEX_V(p_bone, bones.size(), Transform());
+ if (dirty) {
+ const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
+ }
+ return bones[p_bone].pose_global_no_override;
+}
+
// skeleton creation api
void Skeleton3D::add_bone(const String &p_name) {
ERR_FAIL_COND(p_name == "" || p_name.find(":") != -1 || p_name.find("/") != -1);
@@ -912,6 +924,7 @@ void Skeleton3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("clear_bones_global_pose_override"), &Skeleton3D::clear_bones_global_pose_override);
ClassDB::bind_method(D_METHOD("set_bone_global_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton3D::set_bone_global_pose_override, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_bone_global_pose", "bone_idx"), &Skeleton3D::get_bone_global_pose);
+ ClassDB::bind_method(D_METHOD("get_bone_global_pose_no_override", "bone_idx"), &Skeleton3D::get_bone_global_pose_no_override);
ClassDB::bind_method(D_METHOD("get_bone_custom_pose", "bone_idx"), &Skeleton3D::get_bone_custom_pose);
ClassDB::bind_method(D_METHOD("set_bone_custom_pose", "bone_idx", "custom_pose"), &Skeleton3D::set_bone_custom_pose);
diff --git a/scene/3d/skeleton_3d.h b/scene/3d/skeleton_3d.h
index 2941ac2c45..508cd7c329 100644
--- a/scene/3d/skeleton_3d.h
+++ b/scene/3d/skeleton_3d.h
@@ -83,6 +83,7 @@ private:
Transform pose;
Transform pose_global;
+ Transform pose_global_no_override;
bool custom_pose_enable = false;
Transform custom_pose;
@@ -160,6 +161,7 @@ public:
void set_bone_rest(int p_bone, const Transform &p_rest);
Transform get_bone_rest(int p_bone) const;
Transform get_bone_global_pose(int p_bone) const;
+ Transform get_bone_global_pose_no_override(int p_bone) const;
void clear_bones_global_pose_override();
void set_bone_global_pose_override(int p_bone, const Transform &p_pose, float p_amount, bool p_persistent = false);
diff --git a/scene/3d/skeleton_ik_3d.cpp b/scene/3d/skeleton_ik_3d.cpp
index 898f94ccc1..bd1c202205 100644
--- a/scene/3d/skeleton_ik_3d.cpp
+++ b/scene/3d/skeleton_ik_3d.cpp
@@ -246,7 +246,7 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_
p_task->end_effectors.write[0].goal_transform = p_inverse_transf * p_task->goal_global_transform;
} else {
// End effector in local transform
- const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors[0].tip_bone));
+ const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose_no_override(p_task->end_effectors[0].tip_bone));
// Update the end_effector (local transform) by blending with current pose
p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
@@ -270,18 +270,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
return; // Skip solving
}
- 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) {
- p_task->skeleton->set_bone_global_pose_override(p_task->chain.middle_chain_item->bone, Transform(), 0.0, true);
- }
-
- for (int i = 0; i < p_task->chain.tips.size(); i += 1) {
- p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true);
- }
-
- // Update the transforms to their global poses
- // (Needed to sync IK with animation)
+ // Update the initial root transform so its synced with any animation changes
_update_chain(p_task->skeleton, &p_task->chain.chain_root);
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta);
@@ -298,48 +287,22 @@ 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;
- // 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 {
- 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 (!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);
- }
+ 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 {
+ // Set target orientation to tip
+ if (override_tip_basis) {
+ new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
} else {
- // 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;
- }
+ new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
}
}
@@ -362,7 +325,7 @@ void FabrikInverseKinematic::_update_chain(const Skeleton3D *p_sk, ChainItem *p_
return;
}
- p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone);
+ p_chain_item->initial_transform = p_sk->get_bone_global_pose_no_override(p_chain_item->bone);
p_chain_item->current_pos = p_chain_item->initial_transform.origin;
ChainItem *items = p_chain_item->children.ptrw();
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 06:24:26 +0000