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-rw-r--r--scene/animation/skeleton_ik.cpp70
1 files changed, 42 insertions, 28 deletions
diff --git a/scene/animation/skeleton_ik.cpp b/scene/animation/skeleton_ik.cpp
index 69975e6195..4ec22cf3df 100644
--- a/scene/animation/skeleton_ik.cpp
+++ b/scene/animation/skeleton_ik.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2019 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 */
@@ -37,20 +37,20 @@
#ifndef _3D_DISABLED
FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::find_child(const BoneId p_bone_id) {
- for (int i = childs.size() - 1; 0 <= i; --i) {
- if (p_bone_id == childs[i].bone) {
- return &childs.write[i];
+ 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 = childs.size();
- childs.resize(infant_child_id + 1);
- childs.write[infant_child_id].bone = p_bone_id;
- childs.write[infant_child_id].parent_item = this;
- return &childs.write[infant_child_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
@@ -144,8 +144,8 @@ void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_cha
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->childs.size() - 1; 0 <= i; --i) {
- update_chain(p_sk, &p_chain_item->childs.write[i]);
+ for (int i = p_chain_item->children.size() - 1; 0 <= i; --i) {
+ update_chain(p_sk, &p_chain_item->children.write[i]);
}
}
@@ -210,9 +210,9 @@ void FabrikInverseKinematic::solve_simple_forwards(Chain &r_chain, bool p_solve_
while (sub_chain_root) { // Reach the tip
sub_chain_root->current_pos = origin;
- if (!sub_chain_root->childs.empty()) {
+ if (!sub_chain_root->children.empty()) {
- ChainItem &child(sub_chain_root->childs.write[0]);
+ ChainItem &child(sub_chain_root->children.write[0]);
// Is not tip
// So calculate next origin location
@@ -280,7 +280,7 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_
}
}
-void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool p_use_magnet, const Vector3 &p_magnet_position) {
+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
@@ -302,10 +302,10 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool p_u
Transform new_bone_pose(ci->initial_transform);
new_bone_pose.origin = ci->current_pos;
- if (!ci->childs.empty()) {
+ if (!ci->children.empty()) {
/// Rotate basis
- const Vector3 initial_ori((ci->childs[0].initial_transform.origin - ci->initial_transform.origin).normalized());
+ 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) {
@@ -314,13 +314,16 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool p_u
}
} else {
// Set target orientation to tip
- new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
+ 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(ci->bone, new_bone_pose);
+ p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0);
- if (!ci->childs.empty())
- ci = &ci->childs.write[0];
+ if (!ci->children.empty())
+ ci = &ci->children.write[0];
else
ci = NULL;
}
@@ -332,7 +335,7 @@ void SkeletonIK::_validate_property(PropertyInfo &property) const {
if (skeleton) {
- String names;
+ String names("--,");
for (int i = 0; i < skeleton->get_bone_count(); i++) {
if (i > 0)
names += ",";
@@ -366,6 +369,9 @@ void SkeletonIK::_bind_methods() {
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);
@@ -388,6 +394,7 @@ void SkeletonIK::_bind_methods() {
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");
@@ -399,6 +406,7 @@ 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: {
@@ -416,16 +424,14 @@ void SkeletonIK::_notification(int p_what) {
}
SkeletonIK::SkeletonIK() :
- Node(),
interpolation(1),
- skeleton(NULL),
- target_node_override(NULL),
+ override_tip_basis(true),
use_magnet(false),
min_distance(0.01),
max_iterations(10),
+ skeleton(NULL),
+ target_node_override(NULL),
task(NULL) {
-
- set_process_priority(1);
}
SkeletonIK::~SkeletonIK() {
@@ -478,6 +484,14 @@ 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;
}
@@ -555,7 +569,7 @@ void SkeletonIK::reload_goal() {
void SkeletonIK::_solve_chain() {
if (!task)
return;
- FabrikInverseKinematic::solve(task, interpolation, use_magnet, magnet_position);
+ FabrikInverseKinematic::solve(task, interpolation, override_tip_basis, use_magnet, magnet_position);
}
#endif // _3D_DISABLED
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-18 16:47:48 +0000