diff options
Diffstat (limited to 'scene/resources/skeleton_modification_3d_fabrik.cpp')
| -rw-r--r-- | scene/resources/skeleton_modification_3d_fabrik.cpp | 628 |
1 files changed, 0 insertions, 628 deletions
diff --git a/scene/resources/skeleton_modification_3d_fabrik.cpp b/scene/resources/skeleton_modification_3d_fabrik.cpp deleted file mode 100644 index 4099208f44..0000000000 --- a/scene/resources/skeleton_modification_3d_fabrik.cpp +++ /dev/null @@ -1,628 +0,0 @@ -/*************************************************************************/ -/* skeleton_modification_3d_fabrik.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 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. */ -/*************************************************************************/ - -#include "scene/resources/skeleton_modification_3d_fabrik.h" -#include "scene/3d/skeleton_3d.h" -#include "scene/resources/skeleton_modification_3d.h" - -bool SkeletonModification3DFABRIK::_set(const StringName &p_path, const Variant &p_value) { - String path = p_path; - - if (path.begins_with("joint_data/")) { - int fabrik_data_size = fabrik_data_chain.size(); - int which = path.get_slicec('/', 1).to_int(); - String what = path.get_slicec('/', 2); - ERR_FAIL_INDEX_V(which, fabrik_data_size, false); - - if (what == "bone_name") { - set_fabrik_joint_bone_name(which, p_value); - } else if (what == "bone_index") { - set_fabrik_joint_bone_index(which, p_value); - } else if (what == "length") { - set_fabrik_joint_length(which, p_value); - } else if (what == "magnet_position") { - set_fabrik_joint_magnet(which, p_value); - } else if (what == "auto_calculate_length") { - set_fabrik_joint_auto_calculate_length(which, p_value); - } else if (what == "use_tip_node") { - set_fabrik_joint_use_tip_node(which, p_value); - } else if (what == "tip_node") { - set_fabrik_joint_tip_node(which, p_value); - } else if (what == "use_target_basis") { - set_fabrik_joint_use_target_basis(which, p_value); - } else if (what == "roll") { - set_fabrik_joint_roll(which, Math::deg_to_rad(real_t(p_value))); - } - return true; - } - return true; -} - -bool SkeletonModification3DFABRIK::_get(const StringName &p_path, Variant &r_ret) const { - String path = p_path; - - if (path.begins_with("joint_data/")) { - const int fabrik_data_size = fabrik_data_chain.size(); - int which = path.get_slicec('/', 1).to_int(); - String what = path.get_slicec('/', 2); - ERR_FAIL_INDEX_V(which, fabrik_data_size, false); - - if (what == "bone_name") { - r_ret = get_fabrik_joint_bone_name(which); - } else if (what == "bone_index") { - r_ret = get_fabrik_joint_bone_index(which); - } else if (what == "length") { - r_ret = get_fabrik_joint_length(which); - } else if (what == "magnet_position") { - r_ret = get_fabrik_joint_magnet(which); - } else if (what == "auto_calculate_length") { - r_ret = get_fabrik_joint_auto_calculate_length(which); - } else if (what == "use_tip_node") { - r_ret = get_fabrik_joint_use_tip_node(which); - } else if (what == "tip_node") { - r_ret = get_fabrik_joint_tip_node(which); - } else if (what == "use_target_basis") { - r_ret = get_fabrik_joint_use_target_basis(which); - } else if (what == "roll") { - r_ret = Math::rad_to_deg(get_fabrik_joint_roll(which)); - } - return true; - } - return true; -} - -void SkeletonModification3DFABRIK::_get_property_list(List<PropertyInfo> *p_list) const { - for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) { - String base_string = "joint_data/" + itos(i) + "/"; - - p_list->push_back(PropertyInfo(Variant::STRING_NAME, base_string + "bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::INT, base_string + "bone_index", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "roll", PROPERTY_HINT_RANGE, "-360,360,0.01", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "auto_calculate_length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - - if (!fabrik_data_chain[i].auto_calculate_length) { - p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - } else { - p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_tip_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - if (fabrik_data_chain[i].use_tip_node) { - p_list->push_back(PropertyInfo(Variant::NODE_PATH, base_string + "tip_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT)); - } - } - - // Cannot apply magnet to the origin of the chain, as it will not do anything. - if (i > 0) { - p_list->push_back(PropertyInfo(Variant::VECTOR3, base_string + "magnet_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - } - // Only give the override basis option on the last bone in the chain, so only include it for the last bone. - if (i == fabrik_data_chain.size() - 1) { - p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "use_target_basis", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - } - } -} - -void SkeletonModification3DFABRIK::_execute(real_t p_delta) { - ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr, - "Modification is not setup and therefore cannot execute!"); - if (!enabled) { - return; - } - - if (target_node_cache.is_null()) { - _print_execution_error(true, "Target cache is out of date. Attempting to update..."); - update_target_cache(); - return; - } - - if (_print_execution_error(fabrik_data_chain.size() <= 1, "FABRIK requires at least two joints to operate. Cannot execute modification!")) { - return; - } - - Node3D *node_target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache)); - if (_print_execution_error(!node_target || !node_target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) { - return; - } - - // Make sure the transform cache is the correct size - if (fabrik_transforms.size() != fabrik_data_chain.size()) { - fabrik_transforms.resize(fabrik_data_chain.size()); - } - - // Verify that all joints have a valid bone ID, and that all bone lengths are zero or more - // Also, while we are here, apply magnet positions. - for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) { - if (_print_execution_error(fabrik_data_chain[i].bone_idx < 0, "FABRIK Joint " + itos(i) + " has an invalid bone ID. Cannot execute!")) { - return; - } - - if (fabrik_data_chain[i].length < 0 && fabrik_data_chain[i].auto_calculate_length) { - fabrik_joint_auto_calculate_length(i); - } - if (_print_execution_error(fabrik_data_chain[i].length < 0, "FABRIK Joint " + itos(i) + " has an invalid joint length. Cannot execute!")) { - return; - } - fabrik_transforms[i] = stack->skeleton->get_bone_global_pose(fabrik_data_chain[i].bone_idx); - - // Apply magnet positions: - if (stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx) >= 0) { - int parent_bone_idx = stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx); - Transform3D conversion_transform = (stack->skeleton->get_bone_global_pose(parent_bone_idx)); - fabrik_transforms[i].origin += conversion_transform.basis.xform_inv(fabrik_data_chain[i].magnet_position); - } else { - fabrik_transforms[i].origin += fabrik_data_chain[i].magnet_position; - } - } - Transform3D origin_global_pose_trans = stack->skeleton->get_bone_global_pose_no_override(fabrik_data_chain[0].bone_idx); - - target_global_pose = stack->skeleton->world_transform_to_global_pose(node_target->get_global_transform()); - origin_global_pose = origin_global_pose_trans; - - final_joint_idx = fabrik_data_chain.size() - 1; - real_t target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin); - chain_iterations = 0; - - while (target_distance > chain_tolerance) { - chain_backwards(); - chain_forwards(); - - // update the target distance - target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin); - - // update chain iterations - chain_iterations += 1; - if (chain_iterations >= chain_max_iterations) { - break; - } - } - chain_apply(); - - execution_error_found = false; -} - -void SkeletonModification3DFABRIK::chain_backwards() { - int final_bone_idx = fabrik_data_chain[final_joint_idx].bone_idx; - Transform3D final_joint_trans = fabrik_transforms[final_joint_idx]; - - // Get the direction the final bone is facing in. - stack->skeleton->update_bone_rest_forward_vector(final_bone_idx); - Transform3D final_bone_direction_trans = final_joint_trans.looking_at(target_global_pose.origin, Vector3(0, 1, 0)); - final_bone_direction_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(final_bone_idx, final_bone_direction_trans.basis); - Vector3 direction = final_bone_direction_trans.basis.xform(stack->skeleton->get_bone_axis_forward_vector(final_bone_idx)).normalized(); - - // If set to override, then use the target's Basis rather than the bone's - if (fabrik_data_chain[final_joint_idx].use_target_basis) { - direction = target_global_pose.basis.xform(stack->skeleton->get_bone_axis_forward_vector(final_bone_idx)).normalized(); - } - - // set the position of the final joint to the target position - final_joint_trans.origin = target_global_pose.origin - (direction * fabrik_data_chain[final_joint_idx].length); - fabrik_transforms[final_joint_idx] = final_joint_trans; - - // for all other joints, move them towards the target - int i = final_joint_idx; - while (i >= 1) { - Transform3D next_bone_trans = fabrik_transforms[i]; - i -= 1; - Transform3D current_trans = fabrik_transforms[i]; - - real_t length = fabrik_data_chain[i].length / (current_trans.origin.distance_to(next_bone_trans.origin)); - current_trans.origin = next_bone_trans.origin.lerp(current_trans.origin, length); - - // Save the result - fabrik_transforms[i] = current_trans; - } -} - -void SkeletonModification3DFABRIK::chain_forwards() { - // Set root at the initial position. - Transform3D root_transform = fabrik_transforms[0]; - - root_transform.origin = origin_global_pose.origin; - fabrik_transforms[0] = origin_global_pose; - - for (uint32_t i = 0; i < fabrik_data_chain.size() - 1; i++) { - Transform3D current_trans = fabrik_transforms[i]; - Transform3D next_bone_trans = fabrik_transforms[i + 1]; - - real_t length = fabrik_data_chain[i].length / (next_bone_trans.origin.distance_to(current_trans.origin)); - next_bone_trans.origin = current_trans.origin.lerp(next_bone_trans.origin, length); - - // Save the result - fabrik_transforms[i + 1] = next_bone_trans; - } -} - -void SkeletonModification3DFABRIK::chain_apply() { - for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) { - int current_bone_idx = fabrik_data_chain[i].bone_idx; - Transform3D current_trans = fabrik_transforms[i]; - - // If this is the last bone in the chain... - if (i == fabrik_data_chain.size() - 1) { - if (fabrik_data_chain[i].use_target_basis == false) { // Point to target... - // Get the forward direction that the basis is facing in right now. - stack->skeleton->update_bone_rest_forward_vector(current_bone_idx); - Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx); - // Rotate the bone towards the target: - current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(target_global_pose.origin)); - current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll); - } else { // Use the target's Basis... - current_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale()); - } - } else { // every other bone in the chain... - Transform3D next_trans = fabrik_transforms[i + 1]; - - // Get the forward direction that the basis is facing in right now. - stack->skeleton->update_bone_rest_forward_vector(current_bone_idx); - Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(current_bone_idx); - // Rotate the bone towards the next bone in the chain: - current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(next_trans.origin)); - current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll); - } - stack->skeleton->set_bone_local_pose_override(current_bone_idx, stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans), stack->strength, true); - } - - // Update all the bones so the next modification has up-to-date data. - stack->skeleton->force_update_all_bone_transforms(); -} - -void SkeletonModification3DFABRIK::_setup_modification(SkeletonModificationStack3D *p_stack) { - stack = p_stack; - if (stack != nullptr) { - is_setup = true; - execution_error_found = false; - update_target_cache(); - - for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) { - update_joint_tip_cache(i); - } - } -} - -void SkeletonModification3DFABRIK::update_target_cache() { - if (!is_setup || !stack) { - _print_execution_error(true, "Cannot update target cache: modification is not properly setup!"); - return; - } - target_node_cache = ObjectID(); - if (stack->skeleton) { - if (stack->skeleton->is_inside_tree() && target_node.is_empty() == false) { - if (stack->skeleton->has_node(target_node)) { - Node *node = stack->skeleton->get_node(target_node); - ERR_FAIL_COND_MSG(!node || stack->skeleton == node, - "Cannot update target cache: node is this modification's skeleton or cannot be found!"); - ERR_FAIL_COND_MSG(!node->is_inside_tree(), - "Cannot update target cache: node is not in the scene tree!"); - target_node_cache = node->get_instance_id(); - - execution_error_found = false; - } - } - } -} - -void SkeletonModification3DFABRIK::update_joint_tip_cache(int p_joint_idx) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_MSG(p_joint_idx, bone_chain_size, "FABRIK joint not found"); - if (!is_setup || !stack) { - _print_execution_error(true, "Cannot update tip cache: modification is not properly setup!"); - return; - } - fabrik_data_chain[p_joint_idx].tip_node_cache = ObjectID(); - if (stack->skeleton) { - if (stack->skeleton->is_inside_tree() && fabrik_data_chain[p_joint_idx].tip_node.is_empty() == false) { - if (stack->skeleton->has_node(fabrik_data_chain[p_joint_idx].tip_node)) { - Node *node = stack->skeleton->get_node(fabrik_data_chain[p_joint_idx].tip_node); - ERR_FAIL_COND_MSG(!node || stack->skeleton == node, - "Cannot update tip cache for joint " + itos(p_joint_idx) + ": node is this modification's skeleton or cannot be found!"); - ERR_FAIL_COND_MSG(!node->is_inside_tree(), - "Cannot update tip cache for joint " + itos(p_joint_idx) + ": node is not in scene tree!"); - fabrik_data_chain[p_joint_idx].tip_node_cache = node->get_instance_id(); - - execution_error_found = false; - } - } - } -} - -void SkeletonModification3DFABRIK::set_target_node(const NodePath &p_target_node) { - target_node = p_target_node; - update_target_cache(); -} - -NodePath SkeletonModification3DFABRIK::get_target_node() const { - return target_node; -} - -int SkeletonModification3DFABRIK::get_fabrik_data_chain_length() { - return fabrik_data_chain.size(); -} - -void SkeletonModification3DFABRIK::set_fabrik_data_chain_length(int p_length) { - ERR_FAIL_COND(p_length < 0); - fabrik_data_chain.resize(p_length); - fabrik_transforms.resize(p_length); - execution_error_found = false; - notify_property_list_changed(); -} - -real_t SkeletonModification3DFABRIK::get_chain_tolerance() { - return chain_tolerance; -} - -void SkeletonModification3DFABRIK::set_chain_tolerance(real_t p_tolerance) { - ERR_FAIL_COND_MSG(p_tolerance <= 0, "FABRIK chain tolerance must be more than zero!"); - chain_tolerance = p_tolerance; -} - -int SkeletonModification3DFABRIK::get_chain_max_iterations() { - return chain_max_iterations; -} -void SkeletonModification3DFABRIK::set_chain_max_iterations(int p_iterations) { - ERR_FAIL_COND_MSG(p_iterations <= 0, "FABRIK chain iterations must be at least one. Set enabled to false to disable the FABRIK chain."); - chain_max_iterations = p_iterations; -} - -// FABRIK joint data functions -String SkeletonModification3DFABRIK::get_fabrik_joint_bone_name(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, String()); - return fabrik_data_chain[p_joint_idx].bone_name; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_bone_name(int p_joint_idx, String p_bone_name) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].bone_name = p_bone_name; - - if (stack) { - if (stack->skeleton) { - fabrik_data_chain[p_joint_idx].bone_idx = stack->skeleton->find_bone(p_bone_name); - } - } - execution_error_found = false; - notify_property_list_changed(); -} - -int SkeletonModification3DFABRIK::get_fabrik_joint_bone_index(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, -1); - return fabrik_data_chain[p_joint_idx].bone_idx; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!"); - fabrik_data_chain[p_joint_idx].bone_idx = p_bone_idx; - - if (stack) { - if (stack->skeleton) { - fabrik_data_chain[p_joint_idx].bone_name = stack->skeleton->get_bone_name(p_bone_idx); - } - } - execution_error_found = false; - notify_property_list_changed(); -} - -real_t SkeletonModification3DFABRIK::get_fabrik_joint_length(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, -1); - return fabrik_data_chain[p_joint_idx].length; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_length(int p_joint_idx, real_t p_bone_length) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - ERR_FAIL_COND_MSG(p_bone_length < 0, "FABRIK joint length cannot be less than zero!"); - - if (!is_setup) { - fabrik_data_chain[p_joint_idx].length = p_bone_length; - return; - } - - if (fabrik_data_chain[p_joint_idx].auto_calculate_length) { - WARN_PRINT("FABRIK Length not set: auto calculate length is enabled for this joint!"); - fabrik_joint_auto_calculate_length(p_joint_idx); - } else { - fabrik_data_chain[p_joint_idx].length = p_bone_length; - } - - execution_error_found = false; -} - -Vector3 SkeletonModification3DFABRIK::get_fabrik_joint_magnet(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, Vector3()); - return fabrik_data_chain[p_joint_idx].magnet_position; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_magnet(int p_joint_idx, Vector3 p_magnet) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].magnet_position = p_magnet; -} - -bool SkeletonModification3DFABRIK::get_fabrik_joint_auto_calculate_length(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false); - return fabrik_data_chain[p_joint_idx].auto_calculate_length; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_auto_calculate_length(int p_joint_idx, bool p_auto_calculate) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].auto_calculate_length = p_auto_calculate; - fabrik_joint_auto_calculate_length(p_joint_idx); - notify_property_list_changed(); -} - -void SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length(int p_joint_idx) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - if (!fabrik_data_chain[p_joint_idx].auto_calculate_length) { - return; - } - - if (!stack || !stack->skeleton || !is_setup) { - _print_execution_error(true, "Cannot auto calculate joint length: modification is not properly setup!"); - return; - } - ERR_FAIL_INDEX_MSG(fabrik_data_chain[p_joint_idx].bone_idx, stack->skeleton->get_bone_count(), - "Bone for joint " + itos(p_joint_idx) + " is not set or points to an unknown bone!"); - - if (fabrik_data_chain[p_joint_idx].use_tip_node) { // Use the tip node to update joint length. - - update_joint_tip_cache(p_joint_idx); - - Node3D *tip_node = Object::cast_to<Node3D>(ObjectDB::get_instance(fabrik_data_chain[p_joint_idx].tip_node_cache)); - ERR_FAIL_COND_MSG(!tip_node, "Tip node for joint " + itos(p_joint_idx) + "is not a Node3D-based node. Cannot calculate length..."); - ERR_FAIL_COND_MSG(!tip_node->is_inside_tree(), "Tip node for joint " + itos(p_joint_idx) + "is not in the scene tree. Cannot calculate length..."); - - Transform3D node_trans = tip_node->get_global_transform(); - node_trans = stack->skeleton->world_transform_to_global_pose(node_trans); - //node_trans = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, node_trans); - //fabrik_data_chain[p_joint_idx].length = node_trans.origin.length(); - - fabrik_data_chain[p_joint_idx].length = stack->skeleton->get_bone_global_pose(fabrik_data_chain[p_joint_idx].bone_idx).origin.distance_to(node_trans.origin); - - } else { // Use child bone(s) to update joint length, if possible - Vector<int> bone_children = stack->skeleton->get_bone_children(fabrik_data_chain[p_joint_idx].bone_idx); - if (bone_children.size() <= 0) { - ERR_FAIL_MSG("Cannot calculate length for joint " + itos(p_joint_idx) + "joint uses leaf bone. \nPlease manually set the bone length or use a tip node!"); - return; - } - - Transform3D bone_trans = stack->skeleton->get_bone_global_pose(fabrik_data_chain[p_joint_idx].bone_idx); - - real_t final_length = 0; - for (int i = 0; i < bone_children.size(); i++) { - Transform3D child_transform = stack->skeleton->get_bone_global_pose(bone_children[i]); - final_length += bone_trans.origin.distance_to(child_transform.origin); - //final_length += stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, child_transform).origin.length(); - } - fabrik_data_chain[p_joint_idx].length = final_length / bone_children.size(); - } - execution_error_found = false; - notify_property_list_changed(); -} - -bool SkeletonModification3DFABRIK::get_fabrik_joint_use_tip_node(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false); - return fabrik_data_chain[p_joint_idx].use_tip_node; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_use_tip_node(int p_joint_idx, bool p_use_tip_node) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].use_tip_node = p_use_tip_node; - notify_property_list_changed(); -} - -NodePath SkeletonModification3DFABRIK::get_fabrik_joint_tip_node(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, NodePath()); - return fabrik_data_chain[p_joint_idx].tip_node; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_tip_node(int p_joint_idx, NodePath p_tip_node) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].tip_node = p_tip_node; - update_joint_tip_cache(p_joint_idx); -} - -bool SkeletonModification3DFABRIK::get_fabrik_joint_use_target_basis(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false); - return fabrik_data_chain[p_joint_idx].use_target_basis; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_use_target_basis(int p_joint_idx, bool p_use_target_basis) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].use_target_basis = p_use_target_basis; -} - -real_t SkeletonModification3DFABRIK::get_fabrik_joint_roll(int p_joint_idx) const { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, 0.0); - return fabrik_data_chain[p_joint_idx].roll; -} - -void SkeletonModification3DFABRIK::set_fabrik_joint_roll(int p_joint_idx, real_t p_roll) { - const int bone_chain_size = fabrik_data_chain.size(); - ERR_FAIL_INDEX(p_joint_idx, bone_chain_size); - fabrik_data_chain[p_joint_idx].roll = p_roll; -} - -void SkeletonModification3DFABRIK::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DFABRIK::set_target_node); - ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DFABRIK::get_target_node); - ClassDB::bind_method(D_METHOD("set_fabrik_data_chain_length", "length"), &SkeletonModification3DFABRIK::set_fabrik_data_chain_length); - ClassDB::bind_method(D_METHOD("get_fabrik_data_chain_length"), &SkeletonModification3DFABRIK::get_fabrik_data_chain_length); - ClassDB::bind_method(D_METHOD("set_chain_tolerance", "tolerance"), &SkeletonModification3DFABRIK::set_chain_tolerance); - ClassDB::bind_method(D_METHOD("get_chain_tolerance"), &SkeletonModification3DFABRIK::get_chain_tolerance); - ClassDB::bind_method(D_METHOD("set_chain_max_iterations", "max_iterations"), &SkeletonModification3DFABRIK::set_chain_max_iterations); - ClassDB::bind_method(D_METHOD("get_chain_max_iterations"), &SkeletonModification3DFABRIK::get_chain_max_iterations); - - // FABRIK joint data functions - ClassDB::bind_method(D_METHOD("get_fabrik_joint_bone_name", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_bone_name); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_bone_name", "joint_idx", "bone_name"), &SkeletonModification3DFABRIK::set_fabrik_joint_bone_name); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_bone_index", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_bone_index); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_bone_index", "joint_idx", "bone_index"), &SkeletonModification3DFABRIK::set_fabrik_joint_bone_index); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_length", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_length); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_length", "joint_idx", "length"), &SkeletonModification3DFABRIK::set_fabrik_joint_length); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_magnet", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_magnet); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_magnet", "joint_idx", "magnet_position"), &SkeletonModification3DFABRIK::set_fabrik_joint_magnet); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_auto_calculate_length", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_auto_calculate_length); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_auto_calculate_length", "joint_idx", "auto_calculate_length"), &SkeletonModification3DFABRIK::set_fabrik_joint_auto_calculate_length); - ClassDB::bind_method(D_METHOD("fabrik_joint_auto_calculate_length", "joint_idx"), &SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_use_tip_node", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_use_tip_node); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_use_tip_node", "joint_idx", "use_tip_node"), &SkeletonModification3DFABRIK::set_fabrik_joint_use_tip_node); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_tip_node", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_tip_node); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_tip_node", "joint_idx", "tip_node"), &SkeletonModification3DFABRIK::set_fabrik_joint_tip_node); - ClassDB::bind_method(D_METHOD("get_fabrik_joint_use_target_basis", "joint_idx"), &SkeletonModification3DFABRIK::get_fabrik_joint_use_target_basis); - ClassDB::bind_method(D_METHOD("set_fabrik_joint_use_target_basis", "joint_idx", "use_target_basis"), &SkeletonModification3DFABRIK::set_fabrik_joint_use_target_basis); - - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "set_target_node", "get_target_node"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "fabrik_data_chain_length", PROPERTY_HINT_RANGE, "0,100,1"), "set_fabrik_data_chain_length", "get_fabrik_data_chain_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "chain_tolerance", PROPERTY_HINT_RANGE, "0,100,0.001"), "set_chain_tolerance", "get_chain_tolerance"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_max_iterations", PROPERTY_HINT_RANGE, "1,50,1"), "set_chain_max_iterations", "get_chain_max_iterations"); -} - -SkeletonModification3DFABRIK::SkeletonModification3DFABRIK() { - stack = nullptr; - is_setup = false; - enabled = true; -} - -SkeletonModification3DFABRIK::~SkeletonModification3DFABRIK() { -} |