diff options
Diffstat (limited to 'scene/resources/skeleton_modification_3d_fabrik.cpp')
| -rw-r--r-- | scene/resources/skeleton_modification_3d_fabrik.cpp | 82 |
1 files changed, 41 insertions, 41 deletions
diff --git a/scene/resources/skeleton_modification_3d_fabrik.cpp b/scene/resources/skeleton_modification_3d_fabrik.cpp index 69f75eb7b5..dedea3e282 100644 --- a/scene/resources/skeleton_modification_3d_fabrik.cpp +++ b/scene/resources/skeleton_modification_3d_fabrik.cpp @@ -149,6 +149,11 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) { 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++) { @@ -162,27 +167,24 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) { if (_print_execution_error(fabrik_data_chain[i].length < 0, "FABRIK Joint " + itos(i) + " has an invalid joint length. Cannot execute!")) { return; } - - Transform3D local_pose_override = stack->skeleton->get_bone_local_pose_override(fabrik_data_chain[i].bone_idx); + 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) * stack->skeleton->get_bone_rest(parent_bone_idx)); - local_pose_override.origin += conversion_transform.basis.xform_inv(fabrik_data_chain[i].magnet_position); + 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 { - local_pose_override.origin += fabrik_data_chain[i].magnet_position; + fabrik_transforms[i].origin += fabrik_data_chain[i].magnet_position; } - - stack->skeleton->set_bone_local_pose_override(fabrik_data_chain[i].bone_idx, local_pose_override, stack->strength, true); } + 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 = stack->skeleton->local_pose_to_global_pose( - fabrik_data_chain[0].bone_idx, stack->skeleton->get_bone_local_pose_override(fabrik_data_chain[0].bone_idx)); + origin_global_pose = origin_global_pose_trans; final_joint_idx = fabrik_data_chain.size() - 1; - real_t target_distance = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[final_joint_idx].bone_idx, target_global_pose).origin.length(); + real_t target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin); chain_iterations = 0; while (target_distance > chain_tolerance) { @@ -190,7 +192,7 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) { chain_forwards(); // update the target distance - target_distance = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[final_joint_idx].bone_idx, target_global_pose).origin.length(); + target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin); // update chain iterations chain_iterations += 1; @@ -205,7 +207,7 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) { void SkeletonModification3DFABRIK::chain_backwards() { int final_bone_idx = fabrik_data_chain[final_joint_idx].bone_idx; - Transform3D final_joint_trans = stack->skeleton->local_pose_to_global_pose(final_bone_idx, stack->skeleton->get_bone_local_pose_override(final_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); @@ -220,52 +222,46 @@ void SkeletonModification3DFABRIK::chain_backwards() { // 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); - final_joint_trans = stack->skeleton->global_pose_to_local_pose(final_bone_idx, final_joint_trans); - stack->skeleton->set_bone_local_pose_override(final_bone_idx, final_joint_trans, stack->strength, true); + 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) { - int next_bone_idx = fabrik_data_chain[i].bone_idx; - Transform3D next_bone_trans = stack->skeleton->local_pose_to_global_pose(next_bone_idx, stack->skeleton->get_bone_local_pose_override(next_bone_idx)); + Transform3D next_bone_trans = fabrik_transforms[i]; i -= 1; - int current_bone_idx = fabrik_data_chain[i].bone_idx; - Transform3D current_trans = stack->skeleton->local_pose_to_global_pose(current_bone_idx, stack->skeleton->get_bone_local_pose_override(current_bone_idx)); + Transform3D current_trans = fabrik_transforms[i]; - real_t length = fabrik_data_chain[i].length / (next_bone_trans.origin - current_trans.origin).length(); + 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); - // Apply it back to the skeleton - 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); + // Save the result + fabrik_transforms[i] = current_trans; } } void SkeletonModification3DFABRIK::chain_forwards() { // Set root at the initial position. - int origin_bone_idx = fabrik_data_chain[0].bone_idx; - Transform3D root_transform = stack->skeleton->local_pose_to_global_pose(origin_bone_idx, stack->skeleton->get_bone_local_pose_override(origin_bone_idx)); + Transform3D root_transform = fabrik_transforms[0]; + root_transform.origin = origin_global_pose.origin; - stack->skeleton->set_bone_local_pose_override(origin_bone_idx, stack->skeleton->global_pose_to_local_pose(origin_bone_idx, root_transform), stack->strength, true); + fabrik_transforms[0] = origin_global_pose; for (uint32_t i = 0; i < fabrik_data_chain.size() - 1; i++) { - int current_bone_idx = fabrik_data_chain[i].bone_idx; - Transform3D current_trans = stack->skeleton->local_pose_to_global_pose(current_bone_idx, stack->skeleton->get_bone_local_pose_override(current_bone_idx)); - int next_bone_idx = fabrik_data_chain[i + 1].bone_idx; - Transform3D next_bone_trans = stack->skeleton->local_pose_to_global_pose(next_bone_idx, stack->skeleton->get_bone_local_pose_override(next_bone_idx)); + Transform3D current_trans = fabrik_transforms[i]; + Transform3D next_bone_trans = fabrik_transforms[i + 1]; - real_t length = fabrik_data_chain[i].length / (current_trans.origin - next_bone_trans.origin).length(); + 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); - // Apply it back to the skeleton - stack->skeleton->set_bone_local_pose_override(next_bone_idx, stack->skeleton->global_pose_to_local_pose(next_bone_idx, next_bone_trans), stack->strength, true); + // 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 = stack->skeleton->get_bone_local_pose_override(current_bone_idx); - current_trans = stack->skeleton->local_pose_to_global_pose(current_bone_idx, current_trans); + Transform3D current_trans = fabrik_transforms[i]; // If this is the last bone in the chain... if (i == fabrik_data_chain.size() - 1) { @@ -280,8 +276,7 @@ void SkeletonModification3DFABRIK::chain_apply() { current_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale()); } } else { // every other bone in the chain... - int next_bone_idx = fabrik_data_chain[i + 1].bone_idx; - Transform3D next_trans = stack->skeleton->local_pose_to_global_pose(next_bone_idx, stack->skeleton->get_bone_local_pose_override(next_bone_idx)); + 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); @@ -290,9 +285,7 @@ void SkeletonModification3DFABRIK::chain_apply() { 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); } - current_trans = stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans); - current_trans.origin = Vector3(0, 0, 0); - stack->skeleton->set_bone_local_pose_override(current_bone_idx, current_trans, stack->strength, true); + 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. @@ -374,6 +367,7 @@ int SkeletonModification3DFABRIK::get_fabrik_data_chain_length() { 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(); } @@ -513,8 +507,11 @@ void SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length(int p_join 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(); + //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) { @@ -522,10 +519,13 @@ void SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length(int p_join 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 += stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, child_transform).origin.length(); + 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(); } |