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Diffstat (limited to 'scene/animation/skeleton_ik.cpp')
| -rw-r--r-- | scene/animation/skeleton_ik.cpp | 588 |
1 files changed, 0 insertions, 588 deletions
diff --git a/scene/animation/skeleton_ik.cpp b/scene/animation/skeleton_ik.cpp deleted file mode 100644 index 46028a9ce2..0000000000 --- a/scene/animation/skeleton_ik.cpp +++ /dev/null @@ -1,588 +0,0 @@ -/*************************************************************************/ -/* skeleton_ik.cpp */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -/** - * @author AndreaCatania - */ - -#include "skeleton_ik.h" - -#ifndef _3D_DISABLED - -FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::find_child(const BoneId p_bone_id) { - for (int i = children.size() - 1; 0 <= i; --i) { - if (p_bone_id == children[i].bone) { - return &children.write[i]; - } - } - return NULL; -} - -FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::add_child(const BoneId p_bone_id) { - const int infant_child_id = children.size(); - children.resize(infant_child_id + 1); - children.write[infant_child_id].bone = p_bone_id; - children.write[infant_child_id].parent_item = this; - return &children.write[infant_child_id]; -} - -/// Build a chain that starts from the root to tip -bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) { - - ERR_FAIL_COND_V(-1 == p_task->root_bone, false); - - Chain &chain(p_task->chain); - - chain.tips.resize(p_task->end_effectors.size()); - chain.chain_root.bone = p_task->root_bone; - chain.chain_root.initial_transform = p_task->skeleton->get_bone_global_pose(chain.chain_root.bone); - chain.chain_root.current_pos = chain.chain_root.initial_transform.origin; - chain.chain_root.pb = p_task->skeleton->get_physical_bone(chain.chain_root.bone); - chain.middle_chain_item = NULL; - - // Holds all IDs that are composing a single chain in reverse order - Vector<BoneId> chain_ids; - // This is used to know the chain size - int sub_chain_size; - // Resize only one time in order to fit all joints for performance reason - chain_ids.resize(p_task->skeleton->get_bone_count()); - - for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) { - - const EndEffector *ee(&p_task->end_effectors[x]); - ERR_FAIL_COND_V(p_task->root_bone >= ee->tip_bone, false); - ERR_FAIL_INDEX_V(ee->tip_bone, p_task->skeleton->get_bone_count(), false); - - sub_chain_size = 0; - // Picks all IDs that composing a single chain in reverse order (except the root) - BoneId chain_sub_tip(ee->tip_bone); - while (chain_sub_tip > p_task->root_bone) { - - chain_ids.write[sub_chain_size++] = chain_sub_tip; - chain_sub_tip = p_task->skeleton->get_bone_parent(chain_sub_tip); - } - - BoneId middle_chain_item_id = (((float)sub_chain_size) * 0.5); - - // Build chain by reading chain ids in reverse order - // For each chain item id will be created a ChainItem if doesn't exists - ChainItem *sub_chain(&chain.chain_root); - for (int i = sub_chain_size - 1; 0 <= i; --i) { - - ChainItem *child_ci(sub_chain->find_child(chain_ids[i])); - if (!child_ci) { - - child_ci = sub_chain->add_child(chain_ids[i]); - - child_ci->pb = p_task->skeleton->get_physical_bone(child_ci->bone); - - child_ci->initial_transform = p_task->skeleton->get_bone_global_pose(child_ci->bone); - child_ci->current_pos = child_ci->initial_transform.origin; - - if (child_ci->parent_item) { - child_ci->length = (child_ci->current_pos - child_ci->parent_item->current_pos).length(); - } - } - - sub_chain = child_ci; - - if (middle_chain_item_id == i) { - chain.middle_chain_item = child_ci; - } - } - - if (!middle_chain_item_id) - chain.middle_chain_item = NULL; - - // Initialize current tip - chain.tips.write[x].chain_item = sub_chain; - chain.tips.write[x].end_effector = ee; - - if (p_force_simple_chain) { - // NOTE: - // This is an "hack" that force to create only one tip per chain since the solver of multi tip (end effector) - // is not yet created. - // Remove this code when this is done - break; - } - } - return true; -} - -void FabrikInverseKinematic::update_chain(const Skeleton *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; - - for (int i = p_chain_item->children.size() - 1; 0 <= i; --i) { - update_chain(p_sk, &p_chain_item->children.write[i]); - } -} - -void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet) { - - real_t distance_to_goal(1e4); - real_t previous_distance_to_goal(0); - int can_solve(p_task->max_iterations); - while (distance_to_goal > p_task->min_distance && Math::abs(previous_distance_to_goal - distance_to_goal) > 0.005 && can_solve) { - previous_distance_to_goal = distance_to_goal; - --can_solve; - - solve_simple_backwards(p_task->chain, p_solve_magnet); - solve_simple_forwards(p_task->chain, p_solve_magnet); - - distance_to_goal = (p_task->chain.tips[0].chain_item->current_pos - p_task->chain.tips[0].end_effector->goal_transform.origin).length(); - } -} - -void FabrikInverseKinematic::solve_simple_backwards(Chain &r_chain, bool p_solve_magnet) { - - if (p_solve_magnet && !r_chain.middle_chain_item) { - return; - } - - Vector3 goal; - ChainItem *sub_chain_tip; - if (p_solve_magnet) { - goal = r_chain.magnet_position; - sub_chain_tip = r_chain.middle_chain_item; - } else { - goal = r_chain.tips[0].end_effector->goal_transform.origin; - sub_chain_tip = r_chain.tips[0].chain_item; - } - - while (sub_chain_tip) { - sub_chain_tip->current_pos = goal; - - if (sub_chain_tip->parent_item) { - // Not yet in the chain root - // So calculate next goal location - - const Vector3 look_parent((sub_chain_tip->parent_item->current_pos - sub_chain_tip->current_pos).normalized()); - goal = sub_chain_tip->current_pos + (look_parent * sub_chain_tip->length); - - // [TODO] Constraints goes here - } - - sub_chain_tip = sub_chain_tip->parent_item; - } -} - -void FabrikInverseKinematic::solve_simple_forwards(Chain &r_chain, bool p_solve_magnet) { - - if (p_solve_magnet && !r_chain.middle_chain_item) { - return; - } - - ChainItem *sub_chain_root(&r_chain.chain_root); - Vector3 origin(r_chain.chain_root.initial_transform.origin); - - while (sub_chain_root) { // Reach the tip - sub_chain_root->current_pos = origin; - - if (!sub_chain_root->children.empty()) { - - ChainItem &child(sub_chain_root->children.write[0]); - - // Is not tip - // So calculate next origin location - - // Look child - sub_chain_root->current_ori = (child.current_pos - sub_chain_root->current_pos).normalized(); - origin = sub_chain_root->current_pos + (sub_chain_root->current_ori * child.length); - - // [TODO] Constraints goes here - - if (p_solve_magnet && sub_chain_root == r_chain.middle_chain_item) { - // In case of magnet solving this is the tip - sub_chain_root = NULL; - } else { - sub_chain_root = &child; - } - } else { - - // Is tip - sub_chain_root = NULL; - } - } -} - -FabrikInverseKinematic::Task *FabrikInverseKinematic::create_simple_task(Skeleton *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform) { - - FabrikInverseKinematic::EndEffector ee; - ee.tip_bone = tip_bone; - - Task *task(memnew(Task)); - task->skeleton = p_sk; - task->root_bone = root_bone; - task->end_effectors.push_back(ee); - task->goal_global_transform = goal_transform; - - if (!build_chain(task)) { - free_task(task); - return NULL; - } - - return task; -} - -void FabrikInverseKinematic::free_task(Task *p_task) { - if (p_task) - memdelete(p_task); -} - -void FabrikInverseKinematic::set_goal(Task *p_task, const Transform &p_goal) { - p_task->goal_global_transform = p_goal; -} - -void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta) { - - if (blending_delta >= 0.99f) { - // Update the end_effector (local transform) without blending - 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.write[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); - } -} - -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) { - return; // Skip solving - } - - make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse().scaled(p_task->skeleton->get_global_transform().get_basis().get_scale()), blending_delta); - - update_chain(p_task->skeleton, &p_task->chain.chain_root); - - if (p_use_magnet && p_task->chain.middle_chain_item) { - p_task->chain.magnet_position = p_task->chain.middle_chain_item->initial_transform.origin.linear_interpolate(p_magnet_position, blending_delta); - solve_simple(p_task, true); - } - solve_simple(p_task, false); - - // Assign new bone position. - ChainItem *ci(&p_task->chain.chain_root); - while (ci) { - Transform new_bone_pose(ci->initial_transform); - new_bone_pose.origin = ci->current_pos; - - if (!ci->children.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 { - // 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; - } - - p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0, true); - - if (!ci->children.empty()) - ci = &ci->children.write[0]; - else - ci = NULL; - } -} - -void FabrikInverseKinematic::reset(Task *p_task) { - ChainItem *ci(&p_task->chain.chain_root); - while (ci) { - p_task->skeleton->set_bone_global_pose_override(ci->bone, Transform(), 0); - if (!ci->children.empty()) - ci = &ci->children.write[0]; - else - ci = NULL; - } -} - -void SkeletonIK::_validate_property(PropertyInfo &property) const { - - if (property.name == "root_bone" || property.name == "tip_bone") { - - if (skeleton) { - - String names("--,"); - for (int i = 0; i < skeleton->get_bone_count(); i++) { - if (i > 0) - names += ","; - names += skeleton->get_bone_name(i); - } - - property.hint = PROPERTY_HINT_ENUM; - property.hint_string = names; - } else { - - property.hint = PROPERTY_HINT_NONE; - property.hint_string = ""; - } - } -} - -void SkeletonIK::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_root_bone", "root_bone"), &SkeletonIK::set_root_bone); - ClassDB::bind_method(D_METHOD("get_root_bone"), &SkeletonIK::get_root_bone); - - ClassDB::bind_method(D_METHOD("set_tip_bone", "tip_bone"), &SkeletonIK::set_tip_bone); - ClassDB::bind_method(D_METHOD("get_tip_bone"), &SkeletonIK::get_tip_bone); - - ClassDB::bind_method(D_METHOD("set_interpolation", "interpolation"), &SkeletonIK::set_interpolation); - ClassDB::bind_method(D_METHOD("get_interpolation"), &SkeletonIK::get_interpolation); - - ClassDB::bind_method(D_METHOD("set_target_transform", "target"), &SkeletonIK::set_target_transform); - ClassDB::bind_method(D_METHOD("get_target_transform"), &SkeletonIK::get_target_transform); - - ClassDB::bind_method(D_METHOD("set_target_node", "node"), &SkeletonIK::set_target_node); - ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonIK::get_target_node); - - ClassDB::bind_method(D_METHOD("set_override_tip_basis", "override"), &SkeletonIK::set_override_tip_basis); - ClassDB::bind_method(D_METHOD("is_override_tip_basis"), &SkeletonIK::is_override_tip_basis); - - ClassDB::bind_method(D_METHOD("set_use_magnet", "use"), &SkeletonIK::set_use_magnet); - ClassDB::bind_method(D_METHOD("is_using_magnet"), &SkeletonIK::is_using_magnet); - - ClassDB::bind_method(D_METHOD("set_magnet_position", "local_position"), &SkeletonIK::set_magnet_position); - ClassDB::bind_method(D_METHOD("get_magnet_position"), &SkeletonIK::get_magnet_position); - - ClassDB::bind_method(D_METHOD("get_parent_skeleton"), &SkeletonIK::get_parent_skeleton); - ClassDB::bind_method(D_METHOD("is_running"), &SkeletonIK::is_running); - - ClassDB::bind_method(D_METHOD("set_min_distance", "min_distance"), &SkeletonIK::set_min_distance); - ClassDB::bind_method(D_METHOD("get_min_distance"), &SkeletonIK::get_min_distance); - - ClassDB::bind_method(D_METHOD("set_max_iterations", "iterations"), &SkeletonIK::set_max_iterations); - ClassDB::bind_method(D_METHOD("get_max_iterations"), &SkeletonIK::get_max_iterations); - - ClassDB::bind_method(D_METHOD("start", "one_time"), &SkeletonIK::start, DEFVAL(false)); - ClassDB::bind_method(D_METHOD("stop"), &SkeletonIK::stop); - - ADD_PROPERTY(PropertyInfo(Variant::STRING, "root_bone"), "set_root_bone", "get_root_bone"); - ADD_PROPERTY(PropertyInfo(Variant::STRING, "tip_bone"), "set_tip_bone", "get_tip_bone"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "interpolation", PROPERTY_HINT_RANGE, "0,1,0.001"), "set_interpolation", "get_interpolation"); - ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "target"), "set_target_transform", "get_target_transform"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "override_tip_basis"), "set_override_tip_basis", "is_override_tip_basis"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_magnet"), "set_use_magnet", "is_using_magnet"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "magnet"), "set_magnet_position", "get_magnet_position"); - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_node"), "set_target_node", "get_target_node"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "min_distance"), "set_min_distance", "get_min_distance"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "max_iterations"), "set_max_iterations", "get_max_iterations"); -} - -void SkeletonIK::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - skeleton = Object::cast_to<Skeleton>(get_parent()); - set_process_priority(1); - reload_chain(); - } break; - case NOTIFICATION_INTERNAL_PROCESS: { - - if (target_node_override) - reload_goal(); - - _solve_chain(); - - } break; - case NOTIFICATION_EXIT_TREE: { - reload_chain(); - } break; - } -} - -SkeletonIK::SkeletonIK() : - interpolation(1), - override_tip_basis(true), - use_magnet(false), - min_distance(0.01), - max_iterations(10), - skeleton(NULL), - target_node_override(NULL), - task(NULL) { -} - -SkeletonIK::~SkeletonIK() { - FabrikInverseKinematic::free_task(task); - task = NULL; -} - -void SkeletonIK::set_root_bone(const StringName &p_root_bone) { - root_bone = p_root_bone; - reload_chain(); -} - -StringName SkeletonIK::get_root_bone() const { - return root_bone; -} - -void SkeletonIK::set_tip_bone(const StringName &p_tip_bone) { - tip_bone = p_tip_bone; - reload_chain(); -} - -StringName SkeletonIK::get_tip_bone() const { - return tip_bone; -} - -void SkeletonIK::set_interpolation(real_t p_interpolation) { - interpolation = p_interpolation; -} - -real_t SkeletonIK::get_interpolation() const { - return interpolation; -} - -void SkeletonIK::set_target_transform(const Transform &p_target) { - target = p_target; - reload_goal(); -} - -const Transform &SkeletonIK::get_target_transform() const { - return target; -} - -void SkeletonIK::set_target_node(const NodePath &p_node) { - target_node_path_override = p_node; - target_node_override = NULL; - reload_goal(); -} - -NodePath SkeletonIK::get_target_node() { - return target_node_path_override; -} - -void SkeletonIK::set_override_tip_basis(bool p_override) { - override_tip_basis = p_override; -} - -bool SkeletonIK::is_override_tip_basis() const { - return override_tip_basis; -} - -void SkeletonIK::set_use_magnet(bool p_use) { - use_magnet = p_use; -} - -bool SkeletonIK::is_using_magnet() const { - return use_magnet; -} - -void SkeletonIK::set_magnet_position(const Vector3 &p_local_position) { - magnet_position = p_local_position; -} - -const Vector3 &SkeletonIK::get_magnet_position() const { - return magnet_position; -} - -void SkeletonIK::set_min_distance(real_t p_min_distance) { - min_distance = p_min_distance; -} - -void SkeletonIK::set_max_iterations(int p_iterations) { - max_iterations = p_iterations; -} - -bool SkeletonIK::is_running() { - return is_processing_internal(); -} - -void SkeletonIK::start(bool p_one_time) { - if (p_one_time) { - set_process_internal(false); - _solve_chain(); - } else { - set_process_internal(true); - } -} - -void SkeletonIK::stop() { - set_process_internal(false); - if (task) - FabrikInverseKinematic::reset(task); -} - -Transform SkeletonIK::_get_target_transform() { - - if (!target_node_override && !target_node_path_override.is_empty()) - target_node_override = Object::cast_to<Spatial>(get_node(target_node_path_override)); - - if (target_node_override) - return target_node_override->get_global_transform(); - else - return target; -} - -void SkeletonIK::reload_chain() { - - FabrikInverseKinematic::free_task(task); - task = NULL; - - if (!skeleton) - return; - - task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform()); - if (task) { - task->max_iterations = max_iterations; - task->min_distance = min_distance; - } -} - -void SkeletonIK::reload_goal() { - if (!task) - return; - - FabrikInverseKinematic::set_goal(task, _get_target_transform()); -} - -void SkeletonIK::_solve_chain() { - if (!task) - return; - FabrikInverseKinematic::solve(task, interpolation, override_tip_basis, use_magnet, magnet_position); -} - -#endif // _3D_DISABLED |