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diff --git a/scene/animation/skeleton_ik.h b/scene/animation/skeleton_ik.h
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-/*************************************************************************/
-/* skeleton_ik.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.h"
-
-class FabrikInverseKinematic {
-
- struct EndEffector {
- BoneId tip_bone;
- Transform goal_transform;
- };
-
- struct ChainItem {
-
- Vector<ChainItem> children;
- ChainItem *parent_item;
-
- // Bone info
- BoneId bone;
- PhysicalBone *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(NULL),
- bone(-1),
- pb(NULL),
- 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(NULL),
- end_effector(NULL) {}
-
- 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;
- Skeleton *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(NULL),
- 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 Skeleton *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(Skeleton *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 SkeletonIK : public Node {
- GDCLASS(SkeletonIK, 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;
-
- Skeleton *skeleton;
- Spatial *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:
- SkeletonIK();
- virtual ~SkeletonIK();
-
- 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; }
-
- Skeleton *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
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