1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
|
<?xml version="1.0" encoding="UTF-8" ?>
<class name="SkeletonModification3DCCDIK" inherits="SkeletonModification3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A modification that uses CCDIK to manipulate a series of bones to reach a target.
</brief_description>
<description>
This [SkeletonModification3D] uses an algorithm called Cyclic Coordinate Descent Inverse Kinematics, or CCDIK, to manipulate a chain of bones in a Skeleton so it reaches a defined target.
CCDIK works by rotating a set of bones, typically called a "bone chain", on a single axis. Each bone is rotated to face the target from the tip (by default), which over a chain of bones allow it to rotate properly to reach the target. Because the bones only rotate on a single axis, CCDIK [i]can[/i] look more robotic than other IK solvers.
[b]Note:[/b] The CCDIK modifier has [code]ccdik_joints[/code], which are the data objects that hold the data for each joint in the CCDIK chain. This is different from a bone! CCDIK joints hold the data needed for each bone in the bone chain used by CCDIK.
CCDIK also fully supports angle constraints, allowing for more control over how a solution is met.
</description>
<tutorials>
</tutorials>
<methods>
<method name="get_ccdik_joint_bone_index" qualifiers="const">
<return type="int" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the bone index of the bone assigned to the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_bone_name" qualifiers="const">
<return type="String" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the name of the bone that is assigned to the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_ccdik_axis" qualifiers="const">
<return type="int" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the integer representing the joint axis of the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="get_ccdik_joint_constraint_angle_max" qualifiers="const">
<return type="float" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the maximum angle constraint for the joint at [param joint_idx]. [b]Note:[/b] This angle is in degrees!
</description>
</method>
<method name="get_ccdik_joint_constraint_angle_min" qualifiers="const">
<return type="float" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns the minimum angle constraint for the joint at [param joint_idx]. [b]Note:[/b] This angle is in degrees!
</description>
</method>
<method name="get_ccdik_joint_constraint_invert" qualifiers="const">
<return type="bool" />
<param index="0" name="joint_idx" type="int" />
<description>
Returns whether the CCDIK joint at [param joint_idx] uses an inverted joint constraint. See [method set_ccdik_joint_constraint_invert] for details.
</description>
</method>
<method name="get_ccdik_joint_enable_joint_constraint" qualifiers="const">
<return type="bool" />
<param index="0" name="joint_idx" type="int" />
<description>
Enables angle constraints to the CCDIK joint at [param joint_idx].
</description>
</method>
<method name="set_ccdik_joint_bone_index">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="bone_index" type="int" />
<description>
Sets the bone index, [param bone_index], of the CCDIK joint at [param joint_idx]. When possible, this will also update the [code]bone_name[/code] of the CCDIK joint based on data provided by the linked skeleton.
</description>
</method>
<method name="set_ccdik_joint_bone_name">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="bone_name" type="String" />
<description>
Sets the bone name, [param bone_name], of the CCDIK joint at [param joint_idx]. When possible, this will also update the [code]bone_index[/code] of the CCDIK joint based on data provided by the linked skeleton.
</description>
</method>
<method name="set_ccdik_joint_ccdik_axis">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="axis" type="int" />
<description>
Sets the joint axis of the CCDIK joint at [param joint_idx] to the passed-in joint axis, [param axis].
</description>
</method>
<method name="set_ccdik_joint_constraint_angle_max">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="max_angle" type="float" />
<description>
Sets the maximum angle constraint for the joint at [param joint_idx]. [b]Note:[/b] This angle must be in radians!
</description>
</method>
<method name="set_ccdik_joint_constraint_angle_min">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="min_angle" type="float" />
<description>
Sets the minimum angle constraint for the joint at [param joint_idx]. [b]Note:[/b] This angle must be in radians!
</description>
</method>
<method name="set_ccdik_joint_constraint_invert">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="invert" type="bool" />
<description>
Sets whether the CCDIK joint at [param joint_idx] uses an inverted joint constraint.
An inverted joint constraint only constraints the CCDIK joint to the angles [i]outside of[/i] the inputted minimum and maximum angles. For this reason, it is referred to as an inverted joint constraint, as it constraints the joint to the outside of the inputted values.
</description>
</method>
<method name="set_ccdik_joint_enable_joint_constraint">
<return type="void" />
<param index="0" name="joint_idx" type="int" />
<param index="1" name="enable" type="bool" />
<description>
Sets whether joint constraints are enabled for the CCDIK joint at [param joint_idx].
</description>
</method>
</methods>
<members>
<member name="ccdik_data_chain_length" type="int" setter="set_ccdik_data_chain_length" getter="get_ccdik_data_chain_length" default="0">
The amount of CCDIK joints in the CCDIK modification.
</member>
<member name="high_quality_solve" type="bool" setter="set_use_high_quality_solve" getter="get_use_high_quality_solve" default="true">
When true, the CCDIK algorithm will perform a higher quality solve that returns more natural results. A high quality solve requires more computation power to solve though, and therefore can be disabled to save performance.
</member>
<member name="target_nodepath" type="NodePath" setter="set_target_node" getter="get_target_node" default="NodePath("")">
The NodePath to the node that is the target for the CCDIK modification. This node is what the CCDIK chain will attempt to rotate the bone chain to.
</member>
<member name="tip_nodepath" type="NodePath" setter="set_tip_node" getter="get_tip_node" default="NodePath("")">
The end position of the CCDIK chain. Typically, this should be a child of a [BoneAttachment3D] node attached to the final bone in the CCDIK chain, where the child node is offset so it is at the end of the final bone.
</member>
</members>
</class>
|