diff options
Diffstat (limited to 'scene/resources/skeleton_modification_3d_twoboneik.cpp')
| -rw-r--r-- | scene/resources/skeleton_modification_3d_twoboneik.cpp | 617 |
1 files changed, 0 insertions, 617 deletions
diff --git a/scene/resources/skeleton_modification_3d_twoboneik.cpp b/scene/resources/skeleton_modification_3d_twoboneik.cpp deleted file mode 100644 index 7d5b4d2b55..0000000000 --- a/scene/resources/skeleton_modification_3d_twoboneik.cpp +++ /dev/null @@ -1,617 +0,0 @@ -/**************************************************************************/ -/* skeleton_modification_3d_twoboneik.cpp */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* 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_twoboneik.h" -#include "scene/3d/skeleton_3d.h" -#include "scene/resources/skeleton_modification_3d.h" - -bool SkeletonModification3DTwoBoneIK::_set(const StringName &p_path, const Variant &p_value) { - String path = p_path; - - if (path == "use_tip_node") { - set_use_tip_node(p_value); - } else if (path == "tip_node") { - set_tip_node(p_value); - } else if (path == "auto_calculate_joint_length") { - set_auto_calculate_joint_length(p_value); - } else if (path == "use_pole_node") { - set_use_pole_node(p_value); - } else if (path == "pole_node") { - set_pole_node(p_value); - } else if (path == "joint_one_length") { - set_joint_one_length(p_value); - } else if (path == "joint_two_length") { - set_joint_two_length(p_value); - } else if (path == "joint_one/bone_name") { - set_joint_one_bone_name(p_value); - } else if (path == "joint_one/bone_idx") { - set_joint_one_bone_idx(p_value); - } else if (path == "joint_one/roll") { - set_joint_one_roll(Math::deg_to_rad(real_t(p_value))); - } else if (path == "joint_two/bone_name") { - set_joint_two_bone_name(p_value); - } else if (path == "joint_two/bone_idx") { - set_joint_two_bone_idx(p_value); - } else if (path == "joint_two/roll") { - set_joint_two_roll(Math::deg_to_rad(real_t(p_value))); - } - - return true; -} - -bool SkeletonModification3DTwoBoneIK::_get(const StringName &p_path, Variant &r_ret) const { - String path = p_path; - - if (path == "use_tip_node") { - r_ret = get_use_tip_node(); - } else if (path == "tip_node") { - r_ret = get_tip_node(); - } else if (path == "auto_calculate_joint_length") { - r_ret = get_auto_calculate_joint_length(); - } else if (path == "use_pole_node") { - r_ret = get_use_pole_node(); - } else if (path == "pole_node") { - r_ret = get_pole_node(); - } else if (path == "joint_one_length") { - r_ret = get_joint_one_length(); - } else if (path == "joint_two_length") { - r_ret = get_joint_two_length(); - } else if (path == "joint_one/bone_name") { - r_ret = get_joint_one_bone_name(); - } else if (path == "joint_one/bone_idx") { - r_ret = get_joint_one_bone_idx(); - } else if (path == "joint_one/roll") { - r_ret = Math::rad_to_deg(get_joint_one_roll()); - } else if (path == "joint_two/bone_name") { - r_ret = get_joint_two_bone_name(); - } else if (path == "joint_two/bone_idx") { - r_ret = get_joint_two_bone_idx(); - } else if (path == "joint_two/roll") { - r_ret = Math::rad_to_deg(get_joint_two_roll()); - } - - return true; -} - -void SkeletonModification3DTwoBoneIK::_get_property_list(List<PropertyInfo> *p_list) const { - p_list->push_back(PropertyInfo(Variant::BOOL, "use_tip_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - if (use_tip_node) { - p_list->push_back(PropertyInfo(Variant::NODE_PATH, "tip_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT)); - } - - p_list->push_back(PropertyInfo(Variant::BOOL, "auto_calculate_joint_length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - if (!auto_calculate_joint_length) { - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_one_length", PROPERTY_HINT_RANGE, "-1, 10000, 0.001", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_two_length", PROPERTY_HINT_RANGE, "-1, 10000, 0.001", PROPERTY_USAGE_DEFAULT)); - } - - p_list->push_back(PropertyInfo(Variant::BOOL, "use_pole_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - if (use_pole_node) { - p_list->push_back(PropertyInfo(Variant::NODE_PATH, "pole_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D", PROPERTY_USAGE_DEFAULT)); - } - - p_list->push_back(PropertyInfo(Variant::STRING_NAME, "joint_one/bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::INT, "joint_one/bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_one/roll", PROPERTY_HINT_RANGE, "-360, 360, 0.01", PROPERTY_USAGE_DEFAULT)); - - p_list->push_back(PropertyInfo(Variant::STRING_NAME, "joint_two/bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::INT, "joint_two/bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT)); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_two/roll", PROPERTY_HINT_RANGE, "-360, 360, 0.01", PROPERTY_USAGE_DEFAULT)); -} - -void SkeletonModification3DTwoBoneIK::_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 (_print_execution_error(joint_one_bone_idx < 0 || joint_two_bone_idx < 0, - "One (or more) of the bones in the modification have invalid bone indexes. Cannot execute modification!")) { - return; - } - - if (target_node_cache.is_null()) { - _print_execution_error(true, "Target cache is out of date. Attempting to update..."); - update_cache_target(); - return; - } - - // Update joint lengths (if needed) - if (auto_calculate_joint_length && (joint_one_length < 0 || joint_two_length < 0)) { - calculate_joint_lengths(); - } - - // Adopted from the links below: - // http://theorangeduck.com/page/simple-two-joint - // https://www.alanzucconi.com/2018/05/02/ik-2d-2/ - // With modifications by TwistedTwigleg - Node3D *target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache)); - if (_print_execution_error(!target || !target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) { - return; - } - Transform3D target_trans = stack->skeleton->world_transform_to_global_pose(target->get_global_transform()); - - Transform3D bone_one_trans; - Transform3D bone_two_trans; - - // Make the first joint look at the pole, and the second look at the target. That way, the - // TwoBoneIK solver has to really only handle extension/contraction, which should make it align with the pole. - if (use_pole_node) { - if (pole_node_cache.is_null()) { - _print_execution_error(true, "Pole cache is out of date. Attempting to update..."); - update_cache_pole(); - return; - } - - Node3D *pole = Object::cast_to<Node3D>(ObjectDB::get_instance(pole_node_cache)); - if (_print_execution_error(!pole || !pole->is_inside_tree(), "Pole node is not in the scene tree. Cannot execute modification!")) { - return; - } - Transform3D pole_trans = stack->skeleton->world_transform_to_global_pose(pole->get_global_transform()); - - Transform3D bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx); - if (bone_one_local_pos == Transform3D()) { - bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx); - } - Transform3D bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx); - if (bone_two_local_pos == Transform3D()) { - bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx); - } - - bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos); - bone_one_trans = bone_one_trans.looking_at(pole_trans.origin, Vector3(0, 1, 0)); - bone_one_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_one_bone_idx, bone_one_trans.basis); - stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx); - bone_one_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_one_bone_idx), joint_one_roll); - stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans), stack->strength, true); - stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx); - - bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos); - bone_two_trans = bone_two_trans.looking_at(target_trans.origin, Vector3(0, 1, 0)); - bone_two_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_two_bone_idx, bone_two_trans.basis); - stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx); - bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll); - stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans), stack->strength, true); - stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx); - } else { - Transform3D bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx); - if (bone_one_local_pos == Transform3D()) { - bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx); - } - Transform3D bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx); - if (bone_two_local_pos == Transform3D()) { - bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx); - } - - bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos); - bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos); - } - - Transform3D bone_two_tip_trans; - if (use_tip_node) { - if (tip_node_cache.is_null()) { - _print_execution_error(true, "Tip cache is out of date. Attempting to update..."); - update_cache_tip(); - return; - } - Node3D *tip = Object::cast_to<Node3D>(ObjectDB::get_instance(tip_node_cache)); - if (_print_execution_error(!tip || !tip->is_inside_tree(), "Tip node is not in the scene tree. Cannot execute modification!")) { - return; - } - bone_two_tip_trans = stack->skeleton->world_transform_to_global_pose(tip->get_global_transform()); - } else { - stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx); - bone_two_tip_trans = bone_two_trans; - bone_two_tip_trans.origin += bone_two_trans.basis.xform(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx)).normalized() * joint_two_length; - } - - real_t joint_one_to_target_length = bone_one_trans.origin.distance_to(target_trans.origin); - if (joint_one_length + joint_two_length < joint_one_to_target_length) { - // Set the target *just* out of reach to straighten the bones - joint_one_to_target_length = joint_one_length + joint_two_length + 0.01; - } else if (joint_one_to_target_length < joint_one_length) { - // Place the target in reach so the solver doesn't do crazy things - joint_one_to_target_length = joint_one_length; - } - - // Get the square lengths for all three sides of the triangle we'll use to calculate the angles - real_t sqr_one_length = joint_one_length * joint_one_length; - real_t sqr_two_length = joint_two_length * joint_two_length; - real_t sqr_three_length = joint_one_to_target_length * joint_one_to_target_length; - - // Calculate the angles for the first joint using the law of cosigns - real_t ac_ab_0 = Math::acos(CLAMP(bone_two_tip_trans.origin.direction_to(bone_one_trans.origin).dot(bone_two_trans.origin.direction_to(bone_one_trans.origin)), -1, 1)); - real_t ac_at_0 = Math::acos(CLAMP(bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).dot(bone_one_trans.origin.direction_to(target_trans.origin)), -1, 1)); - real_t ac_ab_1 = Math::acos(CLAMP((sqr_two_length - sqr_one_length - sqr_three_length) / (-2.0 * joint_one_length * joint_one_to_target_length), -1, 1)); - - // Calculate the angles of rotation. Angle 0 is the extension/contraction axis, while angle 1 is the rotation axis to align the triangle to the target - Vector3 axis_0 = bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).cross(bone_one_trans.origin.direction_to(bone_two_trans.origin)); - Vector3 axis_1 = bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).cross(bone_one_trans.origin.direction_to(target_trans.origin)); - - // Make a quaternion with the delta rotation needed to rotate the first joint into alignment and apply it to the transform. - Quaternion bone_one_quat = bone_one_trans.basis.get_rotation_quaternion(); - Quaternion rot_0 = Quaternion(bone_one_quat.inverse().xform(axis_0).normalized(), (ac_ab_1 - ac_ab_0)); - Quaternion rot_2 = Quaternion(bone_one_quat.inverse().xform(axis_1).normalized(), ac_at_0); - bone_one_trans.basis.set_quaternion(bone_one_quat * (rot_0 * rot_2)); - - stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx); - bone_one_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_one_bone_idx), joint_one_roll); - - // Apply the rotation to the first joint - bone_one_trans = stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans); - bone_one_trans.origin = Vector3(0, 0, 0); - stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, bone_one_trans, stack->strength, true); - stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx); - - if (use_pole_node) { - // Update bone_two_trans so its at the latest position, with the rotation of bone_one_trans taken into account, then look at the target. - bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx)); - stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx); - Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx); - bone_two_trans.basis.rotate_to_align(forward_vector, bone_two_trans.origin.direction_to(target_trans.origin)); - - stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx); - bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll); - - bone_two_trans = stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans); - stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, bone_two_trans, stack->strength, true); - stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx); - } else { - // Calculate the angles for the second joint using the law of cosigns, make a quaternion with the delta rotation needed to rotate the joint into - // alignment, and then apply it to the second joint. - real_t ba_bc_0 = Math::acos(CLAMP(bone_two_trans.origin.direction_to(bone_one_trans.origin).dot(bone_two_trans.origin.direction_to(bone_two_tip_trans.origin)), -1, 1)); - real_t ba_bc_1 = Math::acos(CLAMP((sqr_three_length - sqr_one_length - sqr_two_length) / (-2.0 * joint_one_length * joint_two_length), -1, 1)); - Quaternion bone_two_quat = bone_two_trans.basis.get_rotation_quaternion(); - Quaternion rot_1 = Quaternion(bone_two_quat.inverse().xform(axis_0).normalized(), (ba_bc_1 - ba_bc_0)); - bone_two_trans.basis.set_quaternion(bone_two_quat * rot_1); - - stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx); - bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll); - - bone_two_trans = stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans); - bone_two_trans.origin = Vector3(0, 0, 0); - stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, bone_two_trans, stack->strength, true); - stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx); - } -} - -void SkeletonModification3DTwoBoneIK::_setup_modification(SkeletonModificationStack3D *p_stack) { - stack = p_stack; - - if (stack != nullptr) { - is_setup = true; - execution_error_found = false; - update_cache_target(); - update_cache_tip(); - } -} - -void SkeletonModification3DTwoBoneIK::update_cache_target() { - 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: Target node is this modification's skeleton or cannot be found. Cannot execute modification"); - ERR_FAIL_COND_MSG(!node->is_inside_tree(), - "Cannot update target cache: Target node is not in the scene tree. Cannot execute modification!"); - target_node_cache = node->get_instance_id(); - - execution_error_found = false; - } - } - } -} - -void SkeletonModification3DTwoBoneIK::update_cache_tip() { - if (!is_setup || !stack) { - _print_execution_error(true, "Cannot update tip cache: modification is not properly setup!"); - return; - } - - tip_node_cache = ObjectID(); - if (stack->skeleton) { - if (stack->skeleton->is_inside_tree()) { - if (stack->skeleton->has_node(tip_node)) { - Node *node = stack->skeleton->get_node(tip_node); - ERR_FAIL_COND_MSG(!node || stack->skeleton == node, - "Cannot update tip cache: Tip node is this modification's skeleton or cannot be found!"); - ERR_FAIL_COND_MSG(!node->is_inside_tree(), - "Cannot update tip cache: Tip node is not in the scene tree. Cannot execute modification!"); - tip_node_cache = node->get_instance_id(); - - execution_error_found = false; - } - } - } -} - -void SkeletonModification3DTwoBoneIK::update_cache_pole() { - if (!is_setup || !stack) { - _print_execution_error(true, "Cannot update pole cache: modification is not properly setup!"); - return; - } - - pole_node_cache = ObjectID(); - if (stack->skeleton) { - if (stack->skeleton->is_inside_tree()) { - if (stack->skeleton->has_node(pole_node)) { - Node *node = stack->skeleton->get_node(pole_node); - ERR_FAIL_COND_MSG(!node || stack->skeleton == node, - "Cannot update pole cache: Pole node is this modification's skeleton or cannot be found!"); - ERR_FAIL_COND_MSG(!node->is_inside_tree(), - "Cannot update pole cache: Pole node is not in the scene tree. Cannot execute modification!"); - pole_node_cache = node->get_instance_id(); - - execution_error_found = false; - } - } - } -} - -void SkeletonModification3DTwoBoneIK::set_target_node(const NodePath &p_target_node) { - target_node = p_target_node; - update_cache_target(); -} - -NodePath SkeletonModification3DTwoBoneIK::get_target_node() const { - return target_node; -} - -void SkeletonModification3DTwoBoneIK::set_use_tip_node(const bool p_use_tip_node) { - use_tip_node = p_use_tip_node; - notify_property_list_changed(); -} - -bool SkeletonModification3DTwoBoneIK::get_use_tip_node() const { - return use_tip_node; -} - -void SkeletonModification3DTwoBoneIK::set_tip_node(const NodePath &p_tip_node) { - tip_node = p_tip_node; - update_cache_tip(); -} - -NodePath SkeletonModification3DTwoBoneIK::get_tip_node() const { - return tip_node; -} - -void SkeletonModification3DTwoBoneIK::set_use_pole_node(const bool p_use_pole_node) { - use_pole_node = p_use_pole_node; - notify_property_list_changed(); -} - -bool SkeletonModification3DTwoBoneIK::get_use_pole_node() const { - return use_pole_node; -} - -void SkeletonModification3DTwoBoneIK::set_pole_node(const NodePath &p_pole_node) { - pole_node = p_pole_node; - update_cache_pole(); -} - -NodePath SkeletonModification3DTwoBoneIK::get_pole_node() const { - return pole_node; -} - -void SkeletonModification3DTwoBoneIK::set_auto_calculate_joint_length(bool p_calculate) { - auto_calculate_joint_length = p_calculate; - if (p_calculate) { - calculate_joint_lengths(); - } - notify_property_list_changed(); -} - -bool SkeletonModification3DTwoBoneIK::get_auto_calculate_joint_length() const { - return auto_calculate_joint_length; -} - -void SkeletonModification3DTwoBoneIK::calculate_joint_lengths() { - if (!is_setup) { - return; // fail silently, as we likely just loaded the scene. - } - ERR_FAIL_COND_MSG(!stack || stack->skeleton == nullptr, - "Modification is not setup and therefore cannot calculate joint lengths!"); - ERR_FAIL_COND_MSG(joint_one_bone_idx <= -1 || joint_two_bone_idx <= -1, - "One of the bones in the TwoBoneIK modification are not set! Cannot calculate joint lengths!"); - - Transform3D bone_one_rest_trans = stack->skeleton->get_bone_global_pose(joint_one_bone_idx); - Transform3D bone_two_rest_trans = stack->skeleton->get_bone_global_pose(joint_two_bone_idx); - - joint_one_length = bone_one_rest_trans.origin.distance_to(bone_two_rest_trans.origin); - - if (use_tip_node) { - if (tip_node_cache.is_null()) { - update_cache_tip(); - WARN_PRINT("Tip cache is out of date. Updating..."); - } - - Node3D *tip = Object::cast_to<Node3D>(ObjectDB::get_instance(tip_node_cache)); - if (tip) { - Transform3D bone_tip_trans = stack->skeleton->world_transform_to_global_pose(tip->get_global_transform()); - joint_two_length = bone_two_rest_trans.origin.distance_to(bone_tip_trans.origin); - } - } else { - // Attempt to use children bones to get the length - Vector<int> bone_two_children = stack->skeleton->get_bone_children(joint_two_bone_idx); - if (bone_two_children.size() > 0) { - joint_two_length = 0; - for (int i = 0; i < bone_two_children.size(); i++) { - joint_two_length += bone_two_rest_trans.origin.distance_to( - stack->skeleton->get_bone_global_pose(bone_two_children[i]).origin); - } - joint_two_length = joint_two_length / bone_two_children.size(); - } else { - WARN_PRINT("TwoBoneIK modification: Cannot auto calculate length for joint 2! Auto setting the length to 1..."); - joint_two_length = 1.0; - } - } - execution_error_found = false; -} - -void SkeletonModification3DTwoBoneIK::set_joint_one_bone_name(String p_bone_name) { - joint_one_bone_name = p_bone_name; - if (stack && stack->skeleton) { - joint_one_bone_idx = stack->skeleton->find_bone(p_bone_name); - } - execution_error_found = false; - notify_property_list_changed(); -} - -String SkeletonModification3DTwoBoneIK::get_joint_one_bone_name() const { - return joint_one_bone_name; -} - -void SkeletonModification3DTwoBoneIK::set_joint_one_bone_idx(int p_bone_idx) { - joint_one_bone_idx = p_bone_idx; - if (stack && stack->skeleton) { - joint_one_bone_name = stack->skeleton->get_bone_name(p_bone_idx); - } - execution_error_found = false; - notify_property_list_changed(); -} - -int SkeletonModification3DTwoBoneIK::get_joint_one_bone_idx() const { - return joint_one_bone_idx; -} - -void SkeletonModification3DTwoBoneIK::set_joint_one_length(real_t p_length) { - joint_one_length = p_length; -} - -real_t SkeletonModification3DTwoBoneIK::get_joint_one_length() const { - return joint_one_length; -} - -void SkeletonModification3DTwoBoneIK::set_joint_two_bone_name(String p_bone_name) { - joint_two_bone_name = p_bone_name; - if (stack && stack->skeleton) { - joint_two_bone_idx = stack->skeleton->find_bone(p_bone_name); - } - execution_error_found = false; - notify_property_list_changed(); -} - -String SkeletonModification3DTwoBoneIK::get_joint_two_bone_name() const { - return joint_two_bone_name; -} - -void SkeletonModification3DTwoBoneIK::set_joint_two_bone_idx(int p_bone_idx) { - joint_two_bone_idx = p_bone_idx; - if (stack && stack->skeleton) { - joint_two_bone_name = stack->skeleton->get_bone_name(p_bone_idx); - } - execution_error_found = false; - notify_property_list_changed(); -} - -int SkeletonModification3DTwoBoneIK::get_joint_two_bone_idx() const { - return joint_two_bone_idx; -} - -void SkeletonModification3DTwoBoneIK::set_joint_two_length(real_t p_length) { - joint_two_length = p_length; -} - -real_t SkeletonModification3DTwoBoneIK::get_joint_two_length() const { - return joint_two_length; -} - -void SkeletonModification3DTwoBoneIK::set_joint_one_roll(real_t p_roll) { - joint_one_roll = p_roll; -} - -real_t SkeletonModification3DTwoBoneIK::get_joint_one_roll() const { - return joint_one_roll; -} - -void SkeletonModification3DTwoBoneIK::set_joint_two_roll(real_t p_roll) { - joint_two_roll = p_roll; -} - -real_t SkeletonModification3DTwoBoneIK::get_joint_two_roll() const { - return joint_two_roll; -} - -void SkeletonModification3DTwoBoneIK::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DTwoBoneIK::set_target_node); - ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DTwoBoneIK::get_target_node); - - ClassDB::bind_method(D_METHOD("set_use_pole_node", "use_pole_node"), &SkeletonModification3DTwoBoneIK::set_use_pole_node); - ClassDB::bind_method(D_METHOD("get_use_pole_node"), &SkeletonModification3DTwoBoneIK::get_use_pole_node); - ClassDB::bind_method(D_METHOD("set_pole_node", "pole_nodepath"), &SkeletonModification3DTwoBoneIK::set_pole_node); - ClassDB::bind_method(D_METHOD("get_pole_node"), &SkeletonModification3DTwoBoneIK::get_pole_node); - - ClassDB::bind_method(D_METHOD("set_use_tip_node", "use_tip_node"), &SkeletonModification3DTwoBoneIK::set_use_tip_node); - ClassDB::bind_method(D_METHOD("get_use_tip_node"), &SkeletonModification3DTwoBoneIK::get_use_tip_node); - ClassDB::bind_method(D_METHOD("set_tip_node", "tip_nodepath"), &SkeletonModification3DTwoBoneIK::set_tip_node); - ClassDB::bind_method(D_METHOD("get_tip_node"), &SkeletonModification3DTwoBoneIK::get_tip_node); - - ClassDB::bind_method(D_METHOD("set_auto_calculate_joint_length", "auto_calculate_joint_length"), &SkeletonModification3DTwoBoneIK::set_auto_calculate_joint_length); - ClassDB::bind_method(D_METHOD("get_auto_calculate_joint_length"), &SkeletonModification3DTwoBoneIK::get_auto_calculate_joint_length); - - ClassDB::bind_method(D_METHOD("set_joint_one_bone_name", "bone_name"), &SkeletonModification3DTwoBoneIK::set_joint_one_bone_name); - ClassDB::bind_method(D_METHOD("get_joint_one_bone_name"), &SkeletonModification3DTwoBoneIK::get_joint_one_bone_name); - ClassDB::bind_method(D_METHOD("set_joint_one_bone_idx", "bone_idx"), &SkeletonModification3DTwoBoneIK::set_joint_one_bone_idx); - ClassDB::bind_method(D_METHOD("get_joint_one_bone_idx"), &SkeletonModification3DTwoBoneIK::get_joint_one_bone_idx); - ClassDB::bind_method(D_METHOD("set_joint_one_length", "bone_length"), &SkeletonModification3DTwoBoneIK::set_joint_one_length); - ClassDB::bind_method(D_METHOD("get_joint_one_length"), &SkeletonModification3DTwoBoneIK::get_joint_one_length); - - ClassDB::bind_method(D_METHOD("set_joint_two_bone_name", "bone_name"), &SkeletonModification3DTwoBoneIK::set_joint_two_bone_name); - ClassDB::bind_method(D_METHOD("get_joint_two_bone_name"), &SkeletonModification3DTwoBoneIK::get_joint_two_bone_name); - ClassDB::bind_method(D_METHOD("set_joint_two_bone_idx", "bone_idx"), &SkeletonModification3DTwoBoneIK::set_joint_two_bone_idx); - ClassDB::bind_method(D_METHOD("get_joint_two_bone_idx"), &SkeletonModification3DTwoBoneIK::get_joint_two_bone_idx); - ClassDB::bind_method(D_METHOD("set_joint_two_length", "bone_length"), &SkeletonModification3DTwoBoneIK::set_joint_two_length); - ClassDB::bind_method(D_METHOD("get_joint_two_length"), &SkeletonModification3DTwoBoneIK::get_joint_two_length); - - ClassDB::bind_method(D_METHOD("set_joint_one_roll", "roll"), &SkeletonModification3DTwoBoneIK::set_joint_one_roll); - ClassDB::bind_method(D_METHOD("get_joint_one_roll"), &SkeletonModification3DTwoBoneIK::get_joint_one_roll); - ClassDB::bind_method(D_METHOD("set_joint_two_roll", "roll"), &SkeletonModification3DTwoBoneIK::set_joint_two_roll); - ClassDB::bind_method(D_METHOD("get_joint_two_roll"), &SkeletonModification3DTwoBoneIK::get_joint_two_roll); - - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "set_target_node", "get_target_node"); - ADD_GROUP("", ""); -} - -SkeletonModification3DTwoBoneIK::SkeletonModification3DTwoBoneIK() { - stack = nullptr; - is_setup = false; -} - -SkeletonModification3DTwoBoneIK::~SkeletonModification3DTwoBoneIK() { -} |