/*************************************************************************/ /* 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() { }