pandemonium_demo_projects/3d/ik/fabrik_ik.tscn

[gd_scene load_steps=13 format=3]

[ext_resource path="res://addons/sade/editor_gizmo_texture.png" type="Texture" id=1]
[ext_resource path="res://model/godot_battle_bot.gltf" type="PackedScene" id=2]
[ext_resource path="res://target_from_mousepos.gd" type="Script" id=5]
[ext_resource path="res://addons/sade/ik_look_at.gd" type="Script" id=6]
[ext_resource path="res://addons/sade/ik_look_at.png" type="Texture" id=7]
[ext_resource path="res://addons/sade/ik_fabrik.gd" type="Script" id=8]
[ext_resource path="res://addons/sade/ik_fabrik.png" type="Texture" id=9]
[ext_resource path="res://button_change_scene.gd" type="Script" id=10]

[sub_resource type="PlaneMesh" id=1]
size = Vector2( 40, 40 )

[sub_resource type="SpatialMaterial" id=2]
albedo_texture = ExtResource( 1 )
roughness = 0.2
uv1_scale = Vector3( 0.25, 0.25, 0.25 )
uv1_triplanar = true
uv1_triplanar_sharpness = 1.0

[sub_resource type="CubeMesh" id=3]
size = Vector3( 1, 1, 1 )

[sub_resource type="SpatialMaterial" id=4]
albedo_color = Color( 0, 0.191406, 0.765625, 1 )
roughness = 0.0

[node name="FABRIK_IK" type="Spatial"]

[node name="Floor" type="MeshInstance" parent="."]
mesh = SubResource( 1 )
material/0 = SubResource( 2 )

[node name="DirectionalLight" type="DirectionalLight" parent="."]
transform = Transform( 0.56827, 0.673454, -0.472789, 0, 0.574581, 0.818448, 0.822842, -0.465099, 0.326517, -9.77531, 11.5204, 11.766 )

[node name="GodotBattleBot" parent="." instance=ExtResource( 2 )]

[node name="Skeleton" parent="GodotBattleBot/Z_UP/Armature" index="0"]
bones/0/position = Vector3( 0, 0.273024, 7.74588 )
bones/0/rotation = Quaternion( 0.759715, 7.75166e-08, 9.06254e-08, 0.650256 )
bones/1/position = Vector3( -0.858803, 0.0572646, 0.105923 )
bones/1/rotation = Quaternion( 0.662256, -0.013691, 0.740854, 0.111198 )
bones/1/scale = Vector3( 0.999998, 1, 0.999999 )
bones/2/position = Vector3( -2.98023e-08, 3.3419, -3.20375e-07 )
bones/2/rotation = Quaternion( 0.0400348, -0.0480878, -0.010588, 0.997984 )
bones/2/scale = Vector3( 1, 1, 1 )
bones/3/position = Vector3( -2.80359e-08, 3.53825, 1.61034e-08 )
bones/3/rotation = Quaternion( 0.513193, 0.52962, -0.484649, 0.470374 )
bones/3/scale = Vector3( 1, 1, 1 )
bones/4/position = Vector3( 0.863247, 0.0572646, 0.105923 )
bones/4/rotation = Quaternion( 0.671069, 0.109276, 0.732881, -0.0247196 )
bones/4/scale = Vector3( 0.999997, 1, 0.999998 )
bones/5/position = Vector3( -1.49012e-08, 3.3419, 1.99303e-07 )
bones/5/rotation = Quaternion( -0.0387784, -0.051742, -0.0145302, 0.997802 )
bones/6/position = Vector3( 4.21492e-09, 3.53825, -2.17745e-08 )
bones/6/rotation = Quaternion( 0.484649, 0.470374, -0.513194, 0.529619 )
bones/6/scale = Vector3( 1, 1, 1 )
bones/7/position = Vector3( -9.64506e-15, 1.7917, 5.65778e-08 )
bones/7/rotation = Quaternion( -0.15185, -3.93786e-11, -3.62496e-08, 0.988404 )
bones/7/scale = Vector3( 1, 1, 1 )
bones/8/position = Vector3( -1.5334, 2.29565, 0.106341 )
bones/8/rotation = Quaternion( 0.694368, -0.212646, 0.677236, 0.118263 )
bones/8/scale = Vector3( 0.999999, 1, 1 )
bones/9/position = Vector3( 9.31323e-09, 1.90503, 1.91387e-07 )
bones/9/rotation = Quaternion( 0.0430889, -0.00651108, 0.00492581, 0.999038 )
bones/9/scale = Vector3( 1, 1, 1 )
bones/10/position = Vector3( -1.54338e-08, 2.97659, 1.80687e-07 )
bones/10/rotation = Quaternion( 0.0254076, 0.0314977, -0.0425505, 0.998274 )
bones/10/scale = Vector3( 1, 1, 1 )
bones/11/position = Vector3( -0.251191, 0.961984, 0.0683811 )
bones/11/rotation = Quaternion( 0.0734265, -0.0198738, 0.116597, 0.990262 )
bones/11/scale = Vector3( 1, 1, 1 )
bones/12/position = Vector3( -4.47035e-08, 0.221738, 1.02445e-08 )
bones/12/rotation = Quaternion( 0.161002, 0.714417, 0.150246, 0.664163 )
bones/12/scale = Vector3( 1, 1, 1 )
bones/13/position = Vector3( -0.0779908, 1.04339, 0.000736893 )
bones/13/rotation = Quaternion( 0.122292, 0.00257627, 0.104377, 0.986987 )
bones/13/scale = Vector3( 1, 1, 1 )
bones/14/position = Vector3( -2.98023e-08, 0.267715, -8.27014e-07 )
bones/14/rotation = Quaternion( 0.147368, 0.694839, 0.0466993, 0.702353 )
bones/14/scale = Vector3( 1, 1, 1 )
bones/15/position = Vector3( 0.0960594, 1.04882, 0.0192584 )
bones/15/rotation = Quaternion( 0.0901164, 0.0392194, 0.00840297, 0.995123 )
bones/16/position = Vector3( 1.86265e-08, 0.277596, -4.6991e-07 )
bones/16/rotation = Quaternion( 0.115872, 0.681565, 0.114615, 0.713377 )
bones/16/scale = Vector3( 1, 1, 1 )
bones/17/position = Vector3( 0.26401, 0.982311, 0.0351903 )
bones/17/rotation = Quaternion( 0.0915952, 0.0987206, -0.130385, 0.982275 )
bones/17/scale = Vector3( 1, 1, 1 )
bones/18/position = Vector3( -2.23517e-07, 0.27682, 1.3411e-07 )
bones/18/rotation = Quaternion( 0.111001, 0.648784, 0.123964, 0.742557 )
bones/18/scale = Vector3( 1, 1, 1 )
bones/19/position = Vector3( 0.408326, 0.607306, 0.0419031 )
bones/19/rotation = Quaternion( 0.104368, 0.154824, -0.245653, 0.951205 )
bones/19/scale = Vector3( 1, 1, 1 )
bones/20/position = Vector3( -2.98023e-08, 0.301735, 4.47035e-08 )
bones/20/rotation = Quaternion( -0.0481356, 0.617453, 0.0348587, 0.784359 )
bones/20/scale = Vector3( 1, 1, 1 )
bones/21/position = Vector3( 1.53444, 2.29565, 0.106341 )
bones/21/rotation = Quaternion( 0.625464, 0.10264, 0.741343, -0.220612 )
bones/21/scale = Vector3( 1, 1, 1 )
bones/22/position = Vector3( 2.98023e-08, 1.90503, 1.08033e-07 )
bones/22/rotation = Quaternion( -0.0433319, -0.0654617, 0.00180953, 0.996912 )
bones/22/scale = Vector3( 1, 1, 1 )
bones/23/position = Vector3( 1.22048e-08, 2.97659, -6.07568e-07 )
bones/23/rotation = Quaternion( -0.0240965, -0.00100487, -0.0433063, 0.998771 )
bones/24/position = Vector3( -0.246549, 0.961984, -0.083585 )
bones/24/rotation = Quaternion( -0.0826772, 0.0401178, 0.11023, 0.989649 )
bones/24/scale = Vector3( 1, 1, 1 )
bones/25/position = Vector3( -1.49012e-07, 0.221738, -1.13621e-07 )
bones/25/rotation = Quaternion( -0.119531, 0.715918, -0.184954, 0.662544 )
bones/25/scale = Vector3( 1, 1, 1 )
bones/26/position = Vector3( -0.0778003, 1.04339, -0.00549548 )
bones/26/rotation = Quaternion( -0.132841, 0.0438432, 0.0905715, 0.986016 )
bones/26/scale = Vector3( 1, 1, 1 )
bones/27/position = Vector3( 1.04308e-07, 0.267716, -1.37836e-07 )
bones/27/rotation = Quaternion( -0.0236808, 0.700911, -0.152766, 0.696294 )
bones/27/scale = Vector3( 1, 1, 1 )
bones/28/position = Vector3( 0.0970556, 1.04882, -0.01336 )
bones/28/rotation = Quaternion( -0.0904035, 0.0402447, -0.00433424, 0.995082 )
bones/28/scale = Vector3( 1, 1, 1 )
bones/29/position = Vector3( 7.68341e-09, 0.277596, -5.1083e-07 )
bones/29/rotation = Quaternion( -0.0926483, 0.681722, -0.134087, 0.713227 )
bones/29/scale = Vector3( 1, 1, 1 )
bones/30/position = Vector3( 0.265665, 0.982311, -0.019011 )
bones/30/rotation = Quaternion( -0.0656662, 0.0260568, -0.145182, 0.98688 )
bones/30/scale = Vector3( 1, 1, 1 )
bones/31/position = Vector3( 3.12924e-07, 0.276819, -7.82311e-08 )
bones/31/rotation = Quaternion( -0.102156, 0.648696, -0.131348, 0.742634 )
bones/31/scale = Vector3( 1, 1, 1 )
bones/32/position = Vector3( 0.410121, 0.607306, -0.0169033 )
bones/32/rotation = Quaternion( -0.0424852, 0.0187641, -0.263502, 0.96354 )
bones/32/scale = Vector3( 1, 1, 1 )
bones/33/position = Vector3( 1.19209e-07, 0.301735, 1.56462e-07 )
bones/33/rotation = Quaternion( -0.0440545, 0.63492, 0.039892, 0.770289 )
bones/33/scale = Vector3( 1, 1, 1 )
bones/34/position = Vector3( 1.17961e-15, 2.97461, 2.98023e-08 )
bones/34/rotation = Quaternion( -1.13845e-08, 0.997388, 0.0722371, 7.53007e-08 )
bones/34/scale = Vector3( 1, 1, 1 )

[node name="Camera" type="Camera" parent="."]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5, 11 )
fov = 74.0
script = ExtResource( 5 )
MOVEMENT_SPEED = -8.0
flip_axis = true

[node name="Targets" type="Spatial" parent="Camera"]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -8 )

[node name="IK_LookAt_Head" type="Spatial" parent="Camera/Targets"]
script = ExtResource( 6 )
__meta__ = {
"_editor_icon": ExtResource( 7 )
}
skeleton_path = NodePath("../../../GodotBattleBot/Z_UP/Armature/Skeleton")
bone_name = "Head"
additional_bone_length = 1

[node name="IK_FABRIK_Left_Arm" type="Spatial" parent="Camera/Targets"]
script = ExtResource( 8 )
__meta__ = {
"_editor_icon": ExtResource( 9 )
}
skeleton_path = NodePath("../../../GodotBattleBot/Z_UP/Armature/Skeleton")
bones_in_chain = PoolStringArray( "Left_UpperArm", "Left_LowerArm" )
bones_in_chain_lengths = PoolRealArray( 1.97, 3 )
limit_chain_iterations = false
use_middle_joint_target = true

[node name="Target" type="Spatial" parent="Camera/Targets/IK_FABRIK_Left_Arm"]
transform = Transform( 0.518503, 0, -0.855076, 0, 1, 0, 0.855076, 0, 0.518503, 1.13159, 0, -0.155596 )

[node name="IK_LookAt_LH" type="Spatial" parent="Camera/Targets/IK_FABRIK_Left_Arm/Target"]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.343393, -0.133381, 0.836605 )
script = ExtResource( 6 )
__meta__ = {
"_editor_icon": ExtResource( 7 )
}
skeleton_path = NodePath("../../../../../GodotBattleBot/Z_UP/Armature/Skeleton")
bone_name = "Left_Hand"
additional_bone_name = "Left_LowerArm"
additional_bone_length = 3.0

[node name="MiddleJoint" type="Spatial" parent="Camera/Targets/IK_FABRIK_Left_Arm"]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 7.16849, 0, -5.31922 )

[node name="Left_UpperArm" type="Spatial" parent="Camera/Targets/IK_FABRIK_Left_Arm"]
transform = Transform( 0.138269, 0.566654, -0.812271, 0, 0.820149, 0.57215, 0.990395, -0.0791108, 0.113401, 1.53444, 0.30189, -3.23425 )

[node name="Left_LowerArm" type="Spatial" parent="Camera/Targets/IK_FABRIK_Left_Arm"]
transform = Transform( -0.986259, -0.122992, 0.110302, 3.72529e-09, 0.667656, 0.74447, -0.165208, 0.73424, -0.658481, 3.13461, -11.9576, -13.6748 )

[node name="IK_FABRIK_Right_Arm" type="Spatial" parent="Camera/Targets"]
script = ExtResource( 8 )
__meta__ = {
"_editor_icon": ExtResource( 9 )
}
skeleton_path = NodePath("../../../GodotBattleBot/Z_UP/Armature/Skeleton")
bones_in_chain = PoolStringArray( "Right_UpperArm", "Right_LowerArm", "Right_Hand" )
bones_in_chain_lengths = PoolRealArray( 1.97, 3, 1.2 )
limit_chain_iterations = false
use_middle_joint_target = true

[node name="Target" type="Spatial" parent="Camera/Targets/IK_FABRIK_Right_Arm"]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -0.902034, 0, -0.046618 )

[node name="IK_LookAt_RH" type="Spatial" parent="Camera/Targets/IK_FABRIK_Right_Arm/Target"]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.251035, -0.133381, 0.332403 )
script = ExtResource( 6 )
__meta__ = {
"_editor_icon": ExtResource( 7 )
}
skeleton_path = NodePath("../../../../../GodotBattleBot/Z_UP/Armature/Skeleton")
bone_name = "Right_Hand"
additional_rotation = Vector3( 0, 180, 0 )
additional_bone_length = 1

[node name="MiddleJoint" type="Spatial" parent="Camera/Targets/IK_FABRIK_Right_Arm"]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -6.34515, 0, -3.7843 )

[node name="Right_UpperArm" type="Spatial" parent="Camera/Targets/IK_FABRIK_Right_Arm"]
transform = Transform( -0.13677, -0.793967, 0.592377, 2.98023e-08, 0.597996, 0.801499, -0.990603, 0.109621, -0.0817881, -1.5334, 0.30189, -3.23425 )

[node name="Right_LowerArm" type="Spatial" parent="Camera/Targets/IK_FABRIK_Right_Arm"]
transform = Transform( -0.258068, 0.758367, -0.598565, 2.98023e-08, 0.619551, 0.784956, 0.966127, 0.202572, -0.159886, -2.70038, 0.463014, -1.6553 )

[node name="Right_Hand" type="Spatial" parent="Camera/Targets/IK_FABRIK_Right_Arm"]
transform = Transform( 0.933847, -0.293386, -0.204584, 0, 0.571985, -0.820264, 0.357673, 0.766001, 0.534147, -0.946222, 0.944532, 0.730302 )

[node name="1MeterCube" type="MeshInstance" parent="Camera/Targets"]
mesh = SubResource( 3 )
material/0 = SubResource( 4 )

[node name="Control" type="Control" parent="."]
anchor_right = 1.0
anchor_bottom = 1.0
__meta__ = {
"_edit_use_anchors_": false
}

[node name="Panel" type="Panel" parent="Control"]
modulate = Color( 1, 1, 1, 0.784314 )
anchor_top = 1.0
anchor_right = 1.0
anchor_bottom = 1.0
margin_left = -2.0
margin_top = -70.0
margin_right = 4.0

[node name="Label" type="Label" parent="Control/Panel"]
anchor_right = 1.0
anchor_bottom = 1.0
margin_left = 12.0
margin_top = 10.0
margin_right = -18.0
margin_bottom = -29.0
text = "F.A.B.R.I.K IK
Move mouse to move IK targets
(Using 3 bones in the right hand, only 2 in the left. 3+ recommended)"
align = 1
valign = 1

[node name="LabelExtra" type="Label" parent="Control/Panel"]
anchor_right = 1.0
anchor_bottom = 1.0
margin_left = 12.0
margin_top = 80.0
margin_right = -18.0
margin_bottom = 58.0
text = "NOTE: You will get a few errors when saving with FABRIK IK nodes in your scene
This is a known bug. Please ignore the errors for now, as they do not do anything
(They're just annoying. If you find a fix, please add it to the demo repository!)"
align = 1
valign = 1
__meta__ = {
"_edit_use_anchors_": false
}

[node name="LabelLeft" type="Label" parent="Control/Panel"]
anchor_left = 1.0
anchor_right = 1.0
margin_left = -248.0
margin_top = 4.0
margin_right = -135.0
margin_bottom = 18.0
text = "Left Hand"
align = 1

[node name="LabelRight" type="Label" parent="Control/Panel"]
margin_left = 136.0
margin_top = 5.0
margin_right = 249.0
margin_bottom = 19.0
text = "Right Hand"
align = 1

[node name="ButtonNext" type="Button" parent="Control"]
anchor_left = 1.0
anchor_top = 1.0
anchor_right = 1.0
anchor_bottom = 1.0
margin_left = -124.0
margin_top = -60.0
margin_right = -5.0
margin_bottom = -10.0
text = "Next scene"
script = ExtResource( 10 )
scene_to_change_to = "res://skeleton_ik.tscn"

[node name="ButtonPrev" type="Button" parent="Control"]
anchor_top = 1.0
anchor_bottom = 1.0
margin_left = 10.0
margin_top = -60.0
margin_right = 129.0
margin_bottom = -10.0
text = "Previous scene"
script = ExtResource( 10 )
__meta__ = {
"_edit_use_anchors_": false
}
scene_to_change_to = "res://look_at_ik.tscn"

[editable path="GodotBattleBot"]