mirror of
https://github.com/Relintai/pandemonium_engine.git
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22d90711da
A common bug with using acos and asin is that input outside -1 to 1 range will result in Nan output. This can occur due to floating point error in the input. The standard solution is to provide safe_acos function with clamped input. For Godot it may make more sense to make the standard functions safe.
596 lines
20 KiB
C++
596 lines
20 KiB
C++
/*************************************************************************/
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/* skeleton_ik.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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/**
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* @author AndreaCatania
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*/
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#include "skeleton_ik.h"
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#ifndef _3D_DISABLED
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#include "skeleton.h"
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FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::find_child(const BoneId p_bone_id) {
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for (int i = children.size() - 1; 0 <= i; --i) {
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if (p_bone_id == children[i].bone) {
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return &children.write[i];
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}
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}
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return nullptr;
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}
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FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::add_child(const BoneId p_bone_id) {
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const int infant_child_id = children.size();
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children.resize(infant_child_id + 1);
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children.write[infant_child_id].bone = p_bone_id;
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children.write[infant_child_id].parent_item = this;
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return &children.write[infant_child_id];
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}
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/// Build a chain that starts from the root to tip
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bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
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ERR_FAIL_COND_V(-1 == p_task->root_bone, false);
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Chain &chain(p_task->chain);
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chain.tips.resize(p_task->end_effectors.size());
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chain.chain_root.bone = p_task->root_bone;
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chain.chain_root.initial_transform = p_task->skeleton->get_bone_global_pose(chain.chain_root.bone);
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chain.chain_root.current_pos = chain.chain_root.initial_transform.origin;
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chain.middle_chain_item = nullptr;
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// Holds all IDs that are composing a single chain in reverse order
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Vector<BoneId> chain_ids;
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// This is used to know the chain size
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int sub_chain_size;
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// Resize only one time in order to fit all joints for performance reason
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chain_ids.resize(p_task->skeleton->get_bone_count());
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for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) {
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const EndEffector *ee(&p_task->end_effectors[x]);
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ERR_FAIL_COND_V(p_task->root_bone >= ee->tip_bone, false);
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ERR_FAIL_INDEX_V(ee->tip_bone, p_task->skeleton->get_bone_count(), false);
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sub_chain_size = 0;
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// Picks all IDs that composing a single chain in reverse order (except the root)
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BoneId chain_sub_tip(ee->tip_bone);
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while (chain_sub_tip > p_task->root_bone) {
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chain_ids.write[sub_chain_size++] = chain_sub_tip;
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chain_sub_tip = p_task->skeleton->get_bone_parent(chain_sub_tip);
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}
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BoneId middle_chain_item_id = (((float)sub_chain_size) * 0.5);
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// Build chain by reading chain ids in reverse order
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// For each chain item id will be created a ChainItem if doesn't exists
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ChainItem *sub_chain(&chain.chain_root);
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for (int i = sub_chain_size - 1; 0 <= i; --i) {
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ChainItem *child_ci(sub_chain->find_child(chain_ids[i]));
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if (!child_ci) {
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child_ci = sub_chain->add_child(chain_ids[i]);
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child_ci->initial_transform = p_task->skeleton->get_bone_global_pose(child_ci->bone);
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child_ci->current_pos = child_ci->initial_transform.origin;
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if (child_ci->parent_item) {
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child_ci->length = (child_ci->current_pos - child_ci->parent_item->current_pos).length();
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}
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}
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sub_chain = child_ci;
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if (middle_chain_item_id == i) {
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chain.middle_chain_item = child_ci;
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}
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}
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if (!middle_chain_item_id) {
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chain.middle_chain_item = nullptr;
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}
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// Initialize current tip
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chain.tips.write[x].chain_item = sub_chain;
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chain.tips.write[x].end_effector = ee;
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if (p_force_simple_chain) {
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// NOTE:
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// This is an "hack" that force to create only one tip per chain since the solver of multi tip (end effector)
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// is not yet created.
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// Remove this code when this is done
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break;
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}
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}
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return true;
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}
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void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet, Vector3 p_origin_pos) {
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real_t distance_to_goal(1e4);
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real_t previous_distance_to_goal(0);
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int can_solve(p_task->max_iterations);
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while (distance_to_goal > p_task->min_distance && Math::abs(previous_distance_to_goal - distance_to_goal) > 0.005 && can_solve) {
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previous_distance_to_goal = distance_to_goal;
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--can_solve;
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solve_simple_backwards(p_task->chain, p_solve_magnet);
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solve_simple_forwards(p_task->chain, p_solve_magnet, p_origin_pos);
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distance_to_goal = (p_task->chain.tips[0].chain_item->current_pos - p_task->chain.tips[0].end_effector->goal_transform.origin).length();
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}
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}
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void FabrikInverseKinematic::solve_simple_backwards(Chain &r_chain, bool p_solve_magnet) {
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if (p_solve_magnet && !r_chain.middle_chain_item) {
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return;
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}
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Vector3 goal;
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ChainItem *sub_chain_tip;
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if (p_solve_magnet) {
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goal = r_chain.magnet_position;
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sub_chain_tip = r_chain.middle_chain_item;
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} else {
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goal = r_chain.tips[0].end_effector->goal_transform.origin;
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sub_chain_tip = r_chain.tips[0].chain_item;
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}
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while (sub_chain_tip) {
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sub_chain_tip->current_pos = goal;
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if (sub_chain_tip->parent_item) {
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// Not yet in the chain root
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// So calculate next goal location
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const Vector3 look_parent((sub_chain_tip->parent_item->current_pos - sub_chain_tip->current_pos).normalized());
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goal = sub_chain_tip->current_pos + (look_parent * sub_chain_tip->length);
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// [TODO] Constraints goes here
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}
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sub_chain_tip = sub_chain_tip->parent_item;
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}
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}
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void FabrikInverseKinematic::solve_simple_forwards(Chain &r_chain, bool p_solve_magnet, Vector3 p_origin_pos) {
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if (p_solve_magnet && !r_chain.middle_chain_item) {
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return;
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}
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ChainItem *sub_chain_root(&r_chain.chain_root);
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Vector3 origin = p_origin_pos;
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while (sub_chain_root) { // Reach the tip
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sub_chain_root->current_pos = origin;
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if (!sub_chain_root->children.empty()) {
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ChainItem &child(sub_chain_root->children.write[0]);
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// Is not tip
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// So calculate next origin location
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// Look child
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sub_chain_root->current_ori = (child.current_pos - sub_chain_root->current_pos).normalized();
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origin = sub_chain_root->current_pos + (sub_chain_root->current_ori * child.length);
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// [TODO] Constraints goes here
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if (p_solve_magnet && sub_chain_root == r_chain.middle_chain_item) {
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// In case of magnet solving this is the tip
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sub_chain_root = nullptr;
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} else {
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sub_chain_root = &child;
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}
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} else {
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// Is tip
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sub_chain_root = nullptr;
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}
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}
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}
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FabrikInverseKinematic::Task *FabrikInverseKinematic::create_simple_task(Skeleton *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform) {
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FabrikInverseKinematic::EndEffector ee;
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ee.tip_bone = tip_bone;
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Task *task(memnew(Task));
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task->skeleton = p_sk;
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task->root_bone = root_bone;
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task->end_effectors.push_back(ee);
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task->goal_global_transform = goal_transform;
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if (!build_chain(task)) {
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free_task(task);
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return nullptr;
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}
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return task;
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}
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void FabrikInverseKinematic::free_task(Task *p_task) {
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if (p_task) {
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memdelete(p_task);
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}
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}
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void FabrikInverseKinematic::set_goal(Task *p_task, const Transform &p_goal) {
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p_task->goal_global_transform = p_goal;
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}
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void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta) {
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if (blending_delta >= 0.99f) {
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// Update the end_effector (local transform) without blending
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p_task->end_effectors.write[0].goal_transform = p_inverse_transf * p_task->goal_global_transform;
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} else {
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// End effector in local transform
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const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose_no_override(p_task->end_effectors[0].tip_bone));
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// Update the end_effector (local transform) by blending with current pose
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p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
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}
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}
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void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position) {
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if (blending_delta <= 0.01f) {
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// Before skipping, make sure we undo the global pose overrides
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ChainItem *ci(&p_task->chain.chain_root);
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while (ci) {
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p_task->skeleton->set_bone_global_pose_override(ci->bone, ci->initial_transform, 0.0, false);
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if (!ci->children.empty()) {
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ci = &ci->children.write[0];
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} else {
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ci = nullptr;
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}
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}
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return; // Skip solving
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}
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// Update the initial root transform so its synced with any animation changes
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_update_chain(p_task->skeleton, &p_task->chain.chain_root);
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p_task->skeleton->set_bone_global_pose_override(p_task->chain.chain_root.bone, Transform(), 0.0, false);
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Vector3 origin_pos = p_task->skeleton->get_bone_global_pose(p_task->chain.chain_root.bone).origin;
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make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta);
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if (p_use_magnet && p_task->chain.middle_chain_item) {
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p_task->chain.magnet_position = p_task->chain.middle_chain_item->initial_transform.origin.linear_interpolate(p_magnet_position, blending_delta);
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solve_simple(p_task, true, origin_pos);
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}
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solve_simple(p_task, false, origin_pos);
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// Assign new bone position.
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ChainItem *ci(&p_task->chain.chain_root);
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while (ci) {
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Transform new_bone_pose(ci->initial_transform);
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new_bone_pose.origin = ci->current_pos;
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if (!ci->children.empty()) {
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/// Rotate basis
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const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized());
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const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized());
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if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
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// acos does clamping.
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const real_t rot_angle(Math::acos(initial_ori.dot(ci->current_ori)));
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new_bone_pose.basis.rotate(rot_axis, rot_angle);
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}
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} else {
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// Set target orientation to tip
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if (override_tip_basis)
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new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
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else
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new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
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}
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// IK should not affect scale, so undo any scaling
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new_bone_pose.basis.orthonormalize();
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new_bone_pose.basis.scale(p_task->skeleton->get_bone_global_pose(ci->bone).basis.get_scale());
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p_task->skeleton->set_bone_global_pose_override(ci->bone, new_bone_pose, 1.0, true);
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if (!ci->children.empty()) {
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ci = &ci->children.write[0];
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} else {
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ci = nullptr;
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}
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}
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}
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void FabrikInverseKinematic::_update_chain(const Skeleton *p_sk, ChainItem *p_chain_item) {
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if (!p_chain_item) {
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return;
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}
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p_chain_item->initial_transform = p_sk->get_bone_global_pose_no_override(p_chain_item->bone);
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p_chain_item->current_pos = p_chain_item->initial_transform.origin;
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ChainItem *items = p_chain_item->children.ptrw();
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for (int i = 0; i < p_chain_item->children.size(); i += 1) {
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_update_chain(p_sk, items + i);
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}
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}
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void SkeletonIK::_validate_property(PropertyInfo &property) const {
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if (property.name == "root_bone" || property.name == "tip_bone") {
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if (skeleton) {
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String names("--,");
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for (int i = 0; i < skeleton->get_bone_count(); i++) {
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if (i > 0) {
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names += ",";
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}
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names += skeleton->get_bone_name(i);
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}
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property.hint = PROPERTY_HINT_ENUM;
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property.hint_string = names;
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} else {
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property.hint = PROPERTY_HINT_NONE;
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property.hint_string = "";
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}
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}
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}
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void SkeletonIK::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_root_bone", "root_bone"), &SkeletonIK::set_root_bone);
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ClassDB::bind_method(D_METHOD("get_root_bone"), &SkeletonIK::get_root_bone);
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ClassDB::bind_method(D_METHOD("set_tip_bone", "tip_bone"), &SkeletonIK::set_tip_bone);
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ClassDB::bind_method(D_METHOD("get_tip_bone"), &SkeletonIK::get_tip_bone);
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ClassDB::bind_method(D_METHOD("set_interpolation", "interpolation"), &SkeletonIK::set_interpolation);
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ClassDB::bind_method(D_METHOD("get_interpolation"), &SkeletonIK::get_interpolation);
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ClassDB::bind_method(D_METHOD("set_target_transform", "target"), &SkeletonIK::set_target_transform);
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ClassDB::bind_method(D_METHOD("get_target_transform"), &SkeletonIK::get_target_transform);
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ClassDB::bind_method(D_METHOD("set_target_node", "node"), &SkeletonIK::set_target_node);
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ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonIK::get_target_node);
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ClassDB::bind_method(D_METHOD("set_override_tip_basis", "override"), &SkeletonIK::set_override_tip_basis);
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ClassDB::bind_method(D_METHOD("is_override_tip_basis"), &SkeletonIK::is_override_tip_basis);
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ClassDB::bind_method(D_METHOD("set_use_magnet", "use"), &SkeletonIK::set_use_magnet);
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ClassDB::bind_method(D_METHOD("is_using_magnet"), &SkeletonIK::is_using_magnet);
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ClassDB::bind_method(D_METHOD("set_magnet_position", "local_position"), &SkeletonIK::set_magnet_position);
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ClassDB::bind_method(D_METHOD("get_magnet_position"), &SkeletonIK::get_magnet_position);
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ClassDB::bind_method(D_METHOD("get_parent_skeleton"), &SkeletonIK::get_parent_skeleton);
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ClassDB::bind_method(D_METHOD("is_running"), &SkeletonIK::is_running);
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ClassDB::bind_method(D_METHOD("set_min_distance", "min_distance"), &SkeletonIK::set_min_distance);
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ClassDB::bind_method(D_METHOD("get_min_distance"), &SkeletonIK::get_min_distance);
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ClassDB::bind_method(D_METHOD("set_max_iterations", "iterations"), &SkeletonIK::set_max_iterations);
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ClassDB::bind_method(D_METHOD("get_max_iterations"), &SkeletonIK::get_max_iterations);
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ClassDB::bind_method(D_METHOD("start", "one_time"), &SkeletonIK::start, DEFVAL(false));
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ClassDB::bind_method(D_METHOD("stop"), &SkeletonIK::stop);
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ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "root_bone"), "set_root_bone", "get_root_bone");
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ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "tip_bone"), "set_tip_bone", "get_tip_bone");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "interpolation", PROPERTY_HINT_RANGE, "0,1,0.001"), "set_interpolation", "get_interpolation");
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ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "target"), "set_target_transform", "get_target_transform");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "override_tip_basis"), "set_override_tip_basis", "is_override_tip_basis");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_magnet"), "set_use_magnet", "is_using_magnet");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "magnet"), "set_magnet_position", "get_magnet_position");
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_node"), "set_target_node", "get_target_node");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "min_distance"), "set_min_distance", "get_min_distance");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_iterations"), "set_max_iterations", "get_max_iterations");
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}
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void SkeletonIK::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_ENTER_TREE: {
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skeleton = Object::cast_to<Skeleton>(get_parent());
|
|
set_process_priority(1);
|
|
reload_chain();
|
|
} break;
|
|
case NOTIFICATION_INTERNAL_PROCESS: {
|
|
if (target_node_override) {
|
|
reload_goal();
|
|
}
|
|
|
|
_solve_chain();
|
|
|
|
} break;
|
|
case NOTIFICATION_EXIT_TREE: {
|
|
reload_chain();
|
|
} break;
|
|
}
|
|
}
|
|
|
|
SkeletonIK::SkeletonIK() :
|
|
interpolation(1),
|
|
override_tip_basis(true),
|
|
use_magnet(false),
|
|
min_distance(0.01),
|
|
max_iterations(10),
|
|
skeleton(nullptr),
|
|
target_node_override(nullptr),
|
|
task(nullptr) {
|
|
}
|
|
|
|
SkeletonIK::~SkeletonIK() {
|
|
FabrikInverseKinematic::free_task(task);
|
|
task = nullptr;
|
|
}
|
|
|
|
void SkeletonIK::set_root_bone(const StringName &p_root_bone) {
|
|
root_bone = p_root_bone;
|
|
reload_chain();
|
|
}
|
|
|
|
StringName SkeletonIK::get_root_bone() const {
|
|
return root_bone;
|
|
}
|
|
|
|
void SkeletonIK::set_tip_bone(const StringName &p_tip_bone) {
|
|
tip_bone = p_tip_bone;
|
|
reload_chain();
|
|
}
|
|
|
|
StringName SkeletonIK::get_tip_bone() const {
|
|
return tip_bone;
|
|
}
|
|
|
|
void SkeletonIK::set_interpolation(real_t p_interpolation) {
|
|
interpolation = p_interpolation;
|
|
}
|
|
|
|
real_t SkeletonIK::get_interpolation() const {
|
|
return interpolation;
|
|
}
|
|
|
|
void SkeletonIK::set_target_transform(const Transform &p_target) {
|
|
target = p_target;
|
|
reload_goal();
|
|
}
|
|
|
|
const Transform &SkeletonIK::get_target_transform() const {
|
|
return target;
|
|
}
|
|
|
|
void SkeletonIK::set_target_node(const NodePath &p_node) {
|
|
target_node_path_override = p_node;
|
|
target_node_override = nullptr;
|
|
reload_goal();
|
|
}
|
|
|
|
NodePath SkeletonIK::get_target_node() {
|
|
return target_node_path_override;
|
|
}
|
|
|
|
void SkeletonIK::set_override_tip_basis(bool p_override) {
|
|
override_tip_basis = p_override;
|
|
}
|
|
|
|
bool SkeletonIK::is_override_tip_basis() const {
|
|
return override_tip_basis;
|
|
}
|
|
|
|
void SkeletonIK::set_use_magnet(bool p_use) {
|
|
use_magnet = p_use;
|
|
}
|
|
|
|
bool SkeletonIK::is_using_magnet() const {
|
|
return use_magnet;
|
|
}
|
|
|
|
void SkeletonIK::set_magnet_position(const Vector3 &p_local_position) {
|
|
magnet_position = p_local_position;
|
|
}
|
|
|
|
const Vector3 &SkeletonIK::get_magnet_position() const {
|
|
return magnet_position;
|
|
}
|
|
|
|
void SkeletonIK::set_min_distance(real_t p_min_distance) {
|
|
min_distance = p_min_distance;
|
|
}
|
|
|
|
void SkeletonIK::set_max_iterations(int p_iterations) {
|
|
max_iterations = p_iterations;
|
|
}
|
|
|
|
bool SkeletonIK::is_running() {
|
|
return is_processing_internal();
|
|
}
|
|
|
|
void SkeletonIK::start(bool p_one_time) {
|
|
if (p_one_time) {
|
|
set_process_internal(false);
|
|
|
|
if (target_node_override) {
|
|
reload_goal();
|
|
}
|
|
|
|
_solve_chain();
|
|
} else {
|
|
set_process_internal(true);
|
|
}
|
|
}
|
|
|
|
void SkeletonIK::stop() {
|
|
set_process_internal(false);
|
|
if (skeleton) {
|
|
skeleton->clear_bones_global_pose_override();
|
|
}
|
|
}
|
|
|
|
Transform SkeletonIK::_get_target_transform() {
|
|
if (!target_node_override && !target_node_path_override.is_empty()) {
|
|
target_node_override = Object::cast_to<Spatial>(get_node(target_node_path_override));
|
|
}
|
|
|
|
if (target_node_override && target_node_override->is_inside_tree()) {
|
|
// Make sure to use the interpolated transform as target.
|
|
// This will pass through to get_global_transform() when physics interpolation is off, and when using interpolation,
|
|
// ensure that the target matches the interpolated visual position of the target when updating the IK each frame.
|
|
return target_node_override->get_global_transform_interpolated();
|
|
} else {
|
|
return target;
|
|
}
|
|
}
|
|
|
|
void SkeletonIK::reload_chain() {
|
|
FabrikInverseKinematic::free_task(task);
|
|
task = nullptr;
|
|
|
|
if (!skeleton) {
|
|
return;
|
|
}
|
|
|
|
task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform());
|
|
if (task) {
|
|
task->max_iterations = max_iterations;
|
|
task->min_distance = min_distance;
|
|
}
|
|
}
|
|
|
|
void SkeletonIK::reload_goal() {
|
|
if (!task) {
|
|
return;
|
|
}
|
|
|
|
FabrikInverseKinematic::set_goal(task, _get_target_transform());
|
|
}
|
|
|
|
void SkeletonIK::_solve_chain() {
|
|
if (!task) {
|
|
return;
|
|
}
|
|
FabrikInverseKinematic::solve(task, interpolation, override_tip_basis, use_magnet, magnet_position);
|
|
}
|
|
|
|
#endif // _3D_DISABLED
|