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/*************************************************************************/
/* skeleton_modification_3d_fabrik.h */
/*************************************************************************/
/* 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. */
/*************************************************************************/
#ifndef SKELETON_MODIFICATION_3D_FABRIK_H
#define SKELETON_MODIFICATION_3D_FABRIK_H
#include "core/templates/local_vector.h"
#include "scene/3d/skeleton_3d.h"
#include "scene/resources/skeleton_modification_3d.h"
class SkeletonModification3DFABRIK : public SkeletonModification3D {
GDCLASS(SkeletonModification3DFABRIK, SkeletonModification3D);
private:
struct FABRIK_Joint_Data {
String bone_name = "";
int bone_idx = -1;
real_t length = -1;
Vector3 magnet_position = Vector3(0, 0, 0);
bool auto_calculate_length = true;
bool use_tip_node = false;
NodePath tip_node = NodePath();
ObjectID tip_node_cache;
bool use_target_basis = false;
real_t roll = 0;
};
LocalVector<FABRIK_Joint_Data> fabrik_data_chain;
LocalVector<Transform3D> fabrik_transforms;
NodePath target_node;
ObjectID target_node_cache;
real_t chain_tolerance = 0.01;
int chain_max_iterations = 10;
int chain_iterations = 0;
void update_target_cache();
void update_joint_tip_cache(int p_joint_idx);
int final_joint_idx = 0;
Transform3D target_global_pose = Transform3D();
Transform3D origin_global_pose = Transform3D();
void chain_backwards();
void chain_forwards();
void chain_apply();
protected:
static void _bind_methods();
bool _get(const StringName &p_path, Variant &r_ret) const;
bool _set(const StringName &p_path, const Variant &p_value);
void _get_property_list(List<PropertyInfo> *p_list) const;
public:
virtual void _execute(real_t p_delta) override;
virtual void _setup_modification(SkeletonModificationStack3D *p_stack) override;
void set_target_node(const NodePath &p_target_node);
NodePath get_target_node() const;
int get_fabrik_data_chain_length();
void set_fabrik_data_chain_length(int p_new_length);
real_t get_chain_tolerance();
void set_chain_tolerance(real_t p_tolerance);
int get_chain_max_iterations();
void set_chain_max_iterations(int p_iterations);
String get_fabrik_joint_bone_name(int p_joint_idx) const;
void set_fabrik_joint_bone_name(int p_joint_idx, String p_bone_name);
int get_fabrik_joint_bone_index(int p_joint_idx) const;
void set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx);
real_t get_fabrik_joint_length(int p_joint_idx) const;
void set_fabrik_joint_length(int p_joint_idx, real_t p_bone_length);
Vector3 get_fabrik_joint_magnet(int p_joint_idx) const;
void set_fabrik_joint_magnet(int p_joint_idx, Vector3 p_magnet);
bool get_fabrik_joint_auto_calculate_length(int p_joint_idx) const;
void set_fabrik_joint_auto_calculate_length(int p_joint_idx, bool p_auto_calculate);
void fabrik_joint_auto_calculate_length(int p_joint_idx);
bool get_fabrik_joint_use_tip_node(int p_joint_idx) const;
void set_fabrik_joint_use_tip_node(int p_joint_idx, bool p_use_tip_node);
NodePath get_fabrik_joint_tip_node(int p_joint_idx) const;
void set_fabrik_joint_tip_node(int p_joint_idx, NodePath p_tip_node);
bool get_fabrik_joint_use_target_basis(int p_joint_idx) const;
void set_fabrik_joint_use_target_basis(int p_joint_idx, bool p_use_basis);
real_t get_fabrik_joint_roll(int p_joint_idx) const;
void set_fabrik_joint_roll(int p_joint_idx, real_t p_roll);
SkeletonModification3DFABRIK();
~SkeletonModification3DFABRIK();
};
#endif // SKELETON_MODIFICATION_3D_FABRIK_H
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