From 5ffed49907618e3c7e7e2bddddcc8449d0b090a6 Mon Sep 17 00:00:00 2001 From: TwistedTwigleg Date: Mon, 3 Aug 2020 17:22:34 -0400 Subject: New and improved IK system for Skeleton3D This PR and commit adds a new IK system for 3D with the Skeleton3D node that adds several new IK solvers, as well as additional changes and functionality for making bone manipulation in Godot easier. This work was sponsored by GSoC 2020 and TwistedTwigleg Full list of changes: * Adds a SkeletonModification3D resource * This resource is the base where all IK code is written and executed * Adds a SkeletonModificationStack3D resource * This node oversees the execution of the modifications and acts as a bridge of sorts for the modifications to the Skeleton3D node * Adds SkeletonModification3D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK * Each modification is in it's own file * Several changes to Skeletons, listed below: * Added local_pose_override, which acts just like global_pose_override but keeps bone-child relationships intract * So if you move a bone using local_pose_override, all of the bones that are children will also be moved. This is different than global_pose_override, which only affects the individual bone * Internally bones keep track of their children. This removes the need of a processing list, makes it possible to update just a few select bones at a time, and makes it easier to traverse down the bone chain * Additional functions added for converting from world transform to global poses, global poses to local poses, and all the same changes but backwards (local to global, global to world). This makes it much easier to work with bone transforms without needing to think too much about how to convert them. * New signal added, bone_pose_changed, that can be used to tell if a specific bone changed its transform. Needed for BoneAttachment3D * Added functions for getting the forward position of a bone * BoneAttachment3D node refactored heavily * BoneAttachment3D node is now completely standalone in its functionality. * This makes the code easier and less interconnected, as well as allowing them to function properly without being direct children of Skeleton3D nodes * BoneAttachment3D now can be set either using the index or the bone name. * BoneAttachment3D nodes can now set the bone transform instead of just following it. This is disabled by default for compatibility * BoneAttachment3D now shows a warning when not configured correctly * Added rotate_to_align function in Basis * Added class reference documentation for all changes --- editor/plugins/node_3d_editor_gizmos.cpp | 79 ++++++++++++++++------------ editor/plugins/node_3d_editor_gizmos.h | 1 + editor/plugins/skeleton_3d_editor_plugin.cpp | 26 +++++---- 3 files changed, 63 insertions(+), 43 deletions(-) (limited to 'editor/plugins') diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp index dcea7b26f3..b93e12d7fa 100644 --- a/editor/plugins/node_3d_editor_gizmos.cpp +++ b/editor/plugins/node_3d_editor_gizmos.cpp @@ -2100,64 +2100,76 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { surface_tool->begin(Mesh::PRIMITIVE_LINES); surface_tool->set_material(material); - Vector grests; + LocalVector grests; grests.resize(skel->get_bone_count()); - Vector bones; - Vector weights; + LocalVector bones; + LocalVector weights; bones.resize(4); weights.resize(4); for (int i = 0; i < 4; i++) { - bones.write[i] = 0; - weights.write[i] = 0; + bones[i] = 0; + weights[i] = 0; } - weights.write[0] = 1; + weights[0] = 1; AABB aabb; Color bonecolor = Color(1.0, 0.4, 0.4, 0.3); Color rootcolor = Color(0.4, 1.0, 0.4, 0.1); - for (int i_bone = 0; i_bone < skel->get_bone_count(); i_bone++) { - int i = skel->get_process_order(i_bone); + //LocalVector bones_to_process = skel->get_parentless_bones(); + LocalVector bones_to_process; + bones_to_process = skel->get_parentless_bones(); - int parent = skel->get_bone_parent(i); + while (bones_to_process.size() > 0) { + int current_bone_idx = bones_to_process[0]; + bones_to_process.erase(current_bone_idx); - if (parent >= 0) { - grests.write[i] = grests[parent] * skel->get_bone_rest(i); + LocalVector child_bones_vector; + child_bones_vector = skel->get_bone_children(current_bone_idx); + int child_bones_size = child_bones_vector.size(); - Vector3 v0 = grests[parent].origin; - Vector3 v1 = grests[i].origin; - Vector3 d = (v1 - v0).normalized(); - float dist = v0.distance_to(v1); + // You have children but no parent, then you must be a root/parentless bone. + if (child_bones_size >= 0 && skel->get_bone_parent(current_bone_idx) <= 0) { + grests[current_bone_idx] = skel->global_pose_to_local_pose(current_bone_idx, skel->get_bone_global_pose(current_bone_idx)); + } - //find closest axis - int closest = -1; - float closest_d = 0.0; + for (int i = 0; i < child_bones_size; i++) { + int child_bone_idx = child_bones_vector[i]; + grests[child_bone_idx] = skel->global_pose_to_local_pose(child_bone_idx, skel->get_bone_global_pose(child_bone_idx)); + Vector3 v0 = grests[current_bone_idx].origin; + Vector3 v1 = grests[child_bone_idx].origin; + Vector3 d = skel->get_bone_rest(child_bone_idx).origin.normalized(); + real_t dist = skel->get_bone_rest(child_bone_idx).origin.length(); + + // Find closest axis. + int closest = -1; + real_t closest_d = 0.0; for (int j = 0; j < 3; j++) { - float dp = Math::abs(grests[parent].basis[j].normalized().dot(d)); + real_t dp = Math::abs(grests[current_bone_idx].basis[j].normalized().dot(d)); if (j == 0 || dp > closest_d) { closest = j; } } - //find closest other + // Find closest other. Vector3 first; Vector3 points[4]; - int pointidx = 0; + int point_idx = 0; for (int j = 0; j < 3; j++) { - bones.write[0] = parent; + bones[0] = current_bone_idx; surface_tool->set_bones(bones); surface_tool->set_weights(weights); surface_tool->set_color(rootcolor); - surface_tool->add_vertex(v0 - grests[parent].basis[j].normalized() * dist * 0.05); + surface_tool->add_vertex(v0 - grests[current_bone_idx].basis[j].normalized() * dist * 0.05); surface_tool->set_bones(bones); surface_tool->set_weights(weights); surface_tool->set_color(rootcolor); - surface_tool->add_vertex(v0 + grests[parent].basis[j].normalized() * dist * 0.05); + surface_tool->add_vertex(v0 + grests[current_bone_idx].basis[j].normalized() * dist * 0.05); if (j == closest) { continue; @@ -2165,7 +2177,7 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { Vector3 axis; if (first == Vector3()) { - axis = d.cross(d.cross(grests[parent].basis[j])).normalized(); + axis = d.cross(d.cross(grests[current_bone_idx].basis[j])).normalized(); first = axis; } else { axis = d.cross(first).normalized(); @@ -2178,7 +2190,7 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { Vector3 point = v0 + d * dist * 0.2; point += axis * dist * 0.1; - bones.write[0] = parent; + bones[0] = current_bone_idx; surface_tool->set_bones(bones); surface_tool->set_weights(weights); surface_tool->set_color(bonecolor); @@ -2188,23 +2200,22 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { surface_tool->set_color(bonecolor); surface_tool->add_vertex(point); - bones.write[0] = parent; + bones[0] = current_bone_idx; surface_tool->set_bones(bones); surface_tool->set_weights(weights); surface_tool->set_color(bonecolor); surface_tool->add_vertex(point); - bones.write[0] = i; + bones[0] = child_bone_idx; surface_tool->set_bones(bones); surface_tool->set_weights(weights); surface_tool->set_color(bonecolor); surface_tool->add_vertex(v1); - points[pointidx++] = point; + points[point_idx++] = point; } } - SWAP(points[1], points[2]); for (int j = 0; j < 4; j++) { - bones.write[0] = parent; + bones[0] = current_bone_idx; surface_tool->set_bones(bones); surface_tool->set_weights(weights); surface_tool->set_color(bonecolor); @@ -2214,9 +2225,9 @@ void Skeleton3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { surface_tool->set_color(bonecolor); surface_tool->add_vertex(points[(j + 1) % 4]); } - } else { - grests.write[i] = skel->get_bone_rest(i); - bones.write[0] = i; + + // Add the bone's children to the list of bones to be processed. + bones_to_process.push_back(child_bones_vector[i]); } } diff --git a/editor/plugins/node_3d_editor_gizmos.h b/editor/plugins/node_3d_editor_gizmos.h index 64f46f2b1a..2cc0951557 100644 --- a/editor/plugins/node_3d_editor_gizmos.h +++ b/editor/plugins/node_3d_editor_gizmos.h @@ -31,6 +31,7 @@ #ifndef NODE_3D_EDITOR_GIZMOS_H #define NODE_3D_EDITOR_GIZMOS_H +#include "core/templates/local_vector.h" #include "core/templates/ordered_hash_map.h" #include "scene/3d/node_3d.h" #include "scene/3d/skeleton_3d.h" diff --git a/editor/plugins/skeleton_3d_editor_plugin.cpp b/editor/plugins/skeleton_3d_editor_plugin.cpp index 0bb0bfde6f..309821b3dc 100644 --- a/editor/plugins/skeleton_3d_editor_plugin.cpp +++ b/editor/plugins/skeleton_3d_editor_plugin.cpp @@ -551,22 +551,30 @@ void Skeleton3DEditor::update_joint_tree() { items.insert(-1, root); - const Vector &joint_porder = skeleton->get_bone_process_orders(); Ref bone_icon = get_theme_icon(SNAME("BoneAttachment3D"), SNAME("EditorIcons")); - for (int i = 0; i < joint_porder.size(); ++i) { - const int b_idx = joint_porder[i]; + Vector bones_to_process = skeleton->get_parentless_bones(); + while (bones_to_process.size() > 0) { + int current_bone_idx = bones_to_process[0]; + bones_to_process.erase(current_bone_idx); - const int p_idx = skeleton->get_bone_parent(b_idx); - TreeItem *p_item = items.find(p_idx)->get(); + const int parent_idx = skeleton->get_bone_parent(current_bone_idx); + TreeItem *parent_item = items.find(parent_idx)->get(); - TreeItem *joint_item = joint_tree->create_item(p_item); - items.insert(b_idx, joint_item); + TreeItem *joint_item = joint_tree->create_item(parent_item); + items.insert(current_bone_idx, joint_item); - joint_item->set_text(0, skeleton->get_bone_name(b_idx)); + joint_item->set_text(0, skeleton->get_bone_name(current_bone_idx)); joint_item->set_icon(0, bone_icon); joint_item->set_selectable(0, true); - joint_item->set_metadata(0, "bones/" + itos(b_idx)); + joint_item->set_metadata(0, "bones/" + itos(current_bone_idx)); + + // Add the bone's children to the list of bones to be processed + Vector current_bone_child_bones = skeleton->get_bone_children(current_bone_idx); + int child_bone_size = current_bone_child_bones.size(); + for (int i = 0; i < child_bone_size; i++) { + bones_to_process.push_back(current_bone_child_bones[i]); + } } } -- cgit v1.2.3