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/*************************************************************************/
/* skeleton_ik_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 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. */
/*************************************************************************/
#ifndef SKELETON_IK_H
#define SKELETON_IK_H
#ifndef _3D_DISABLED
#include "scene/3d/skeleton_3d.h"
class FabrikInverseKinematic {
struct EndEffector {
BoneId tip_bone;
Transform3D goal_transform;
};
struct ChainItem {
Vector<ChainItem> children;
ChainItem *parent_item = nullptr;
// Bone info
BoneId bone = -1;
real_t length = 0.0;
/// Positions relative to root bone
Transform3D initial_transform;
Vector3 current_pos;
// Direction from this bone to child
Vector3 current_ori;
ChainItem *find_child(const BoneId p_bone_id);
ChainItem *add_child(const BoneId p_bone_id);
};
struct ChainTip {
ChainItem *chain_item = nullptr;
const EndEffector *end_effector = nullptr;
ChainTip() {}
ChainTip(ChainItem *p_chain_item, const EndEffector *p_end_effector) :
chain_item(p_chain_item),
end_effector(p_end_effector) {}
};
struct Chain {
ChainItem chain_root;
ChainItem *middle_chain_item = nullptr;
Vector<ChainTip> tips;
Vector3 magnet_position;
};
public:
struct Task {
RID self;
Skeleton3D *skeleton = nullptr;
Chain chain;
// Settings
real_t min_distance = 0.01;
int max_iterations = 10;
// Bone data
BoneId root_bone = -1;
Vector<EndEffector> end_effectors;
Transform3D goal_global_transform;
Task() {}
};
private:
/// Init a chain that starts from the root to tip
static bool build_chain(Task *p_task, bool p_force_simple_chain = true);
static void solve_simple(Task *p_task, bool p_solve_magnet, Vector3 p_origin_pos);
/// Special solvers that solve only chains with one end effector
static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet);
static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet, Vector3 p_origin_pos);
public:
static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform3D &goal_transform);
static void free_task(Task *p_task);
// The goal of chain should be always in local space
static void set_goal(Task *p_task, const Transform3D &p_goal);
static void make_goal(Task *p_task, const Transform3D &p_inverse_transf, real_t blending_delta);
static void solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position);
static void _update_chain(const Skeleton3D *p_skeleton, ChainItem *p_chain_item);
};
class SkeletonIK3D : public Node {
GDCLASS(SkeletonIK3D, Node);
StringName root_bone;
StringName tip_bone;
real_t interpolation = 1.0;
Transform3D target;
NodePath target_node_path_override;
bool override_tip_basis = true;
bool use_magnet = false;
Vector3 magnet_position;
real_t min_distance = 0.01;
int max_iterations = 10;
Skeleton3D *skeleton = nullptr;
Node3D *target_node_override = nullptr;
FabrikInverseKinematic::Task *task = nullptr;
protected:
virtual void
_validate_property(PropertyInfo &property) const override;
static void _bind_methods();
virtual void _notification(int p_what);
public:
SkeletonIK3D();
virtual ~SkeletonIK3D();
void set_root_bone(const StringName &p_root_bone);
StringName get_root_bone() const;
void set_tip_bone(const StringName &p_tip_bone);
StringName get_tip_bone() const;
void set_interpolation(real_t p_interpolation);
real_t get_interpolation() const;
void set_target_transform(const Transform3D &p_target);
const Transform3D &get_target_transform() const;
void set_target_node(const NodePath &p_node);
NodePath get_target_node();
void set_override_tip_basis(bool p_override);
bool is_override_tip_basis() const;
void set_use_magnet(bool p_use);
bool is_using_magnet() const;
void set_magnet_position(const Vector3 &p_local_position);
const Vector3 &get_magnet_position() const;
void set_min_distance(real_t p_min_distance);
real_t get_min_distance() const { return min_distance; }
void set_max_iterations(int p_iterations);
int get_max_iterations() const { return max_iterations; }
Skeleton3D *get_parent_skeleton() const { return skeleton; }
bool is_running();
void start(bool p_one_time = false);
void stop();
private:
Transform3D _get_target_transform();
void reload_chain();
void reload_goal();
void _solve_chain();
};
#endif // _3D_DISABLED
#endif // SKELETON_IK_H
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