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pandemonium_engine/modules/skeleton_3d/resources/skeleton_modification_3d_twoboneik.cpp

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/*************************************************************************/
/* skeleton_modification_3d_twoboneik.cpp */
/*************************************************************************/
/* This file is part of: */
/* PANDEMONIUM ENGINE */
/* https://github.com/Relintai/pandemonium_engine */
/*************************************************************************/
/* Copyright (c) 2022-present Péter Magyar. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/*************************************************************************/
#include "skeleton_modification_3d_twoboneik.h"
#include "../nodes/skeleton.h"
#include "skeleton_modification_stack_3d.h"
bool SkeletonModification3DTwoBoneIK::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
if (path == "use_tip_node") {
set_use_tip_node(p_value);
} else if (path == "tip_node") {
set_tip_node(p_value);
} else if (path == "auto_calculate_joint_length") {
set_auto_calculate_joint_length(p_value);
} else if (path == "use_pole_node") {
set_use_pole_node(p_value);
} else if (path == "pole_node") {
set_pole_node(p_value);
} else if (path == "joint_one_length") {
set_joint_one_length(p_value);
} else if (path == "joint_two_length") {
set_joint_two_length(p_value);
} else if (path == "joint_one/bone_name") {
set_joint_one_bone_name(p_value);
} else if (path == "joint_one/bone_idx") {
set_joint_one_bone_idx(p_value);
} else if (path == "joint_one/roll") {
set_joint_one_roll(Math::deg2rad(real_t(p_value)));
} else if (path == "joint_two/bone_name") {
set_joint_two_bone_name(p_value);
} else if (path == "joint_two/bone_idx") {
set_joint_two_bone_idx(p_value);
} else if (path == "joint_two/roll") {
set_joint_two_roll(Math::deg2rad(real_t(p_value)));
}
return true;
}
bool SkeletonModification3DTwoBoneIK::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
if (path == "use_tip_node") {
r_ret = get_use_tip_node();
} else if (path == "tip_node") {
r_ret = get_tip_node();
} else if (path == "auto_calculate_joint_length") {
r_ret = get_auto_calculate_joint_length();
} else if (path == "use_pole_node") {
r_ret = get_use_pole_node();
} else if (path == "pole_node") {
r_ret = get_pole_node();
} else if (path == "joint_one_length") {
r_ret = get_joint_one_length();
} else if (path == "joint_two_length") {
r_ret = get_joint_two_length();
} else if (path == "joint_one/bone_name") {
r_ret = get_joint_one_bone_name();
} else if (path == "joint_one/bone_idx") {
r_ret = get_joint_one_bone_idx();
} else if (path == "joint_one/roll") {
r_ret = Math::rad2deg(get_joint_one_roll());
} else if (path == "joint_two/bone_name") {
r_ret = get_joint_two_bone_name();
} else if (path == "joint_two/bone_idx") {
r_ret = get_joint_two_bone_idx();
} else if (path == "joint_two/roll") {
r_ret = Math::rad2deg(get_joint_two_roll());
}
return true;
}
void SkeletonModification3DTwoBoneIK::_get_property_list(List<PropertyInfo> *p_list) const {
p_list->push_back(PropertyInfo(Variant::BOOL, "use_tip_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
if (use_tip_node) {
p_list->push_back(PropertyInfo(Variant::NODE_PATH, "tip_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Spatial", PROPERTY_USAGE_DEFAULT));
}
p_list->push_back(PropertyInfo(Variant::BOOL, "auto_calculate_joint_length", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
if (!auto_calculate_joint_length) {
p_list->push_back(PropertyInfo(Variant::REAL, "joint_one_length", PROPERTY_HINT_RANGE, "-1, 10000, 0.001", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_two_length", PROPERTY_HINT_RANGE, "-1, 10000, 0.001", PROPERTY_USAGE_DEFAULT));
}
p_list->push_back(PropertyInfo(Variant::BOOL, "use_pole_node", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
if (use_pole_node) {
p_list->push_back(PropertyInfo(Variant::NODE_PATH, "pole_node", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Spatial", PROPERTY_USAGE_DEFAULT));
}
p_list->push_back(PropertyInfo(Variant::STRING_NAME, "joint_one/bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::INT, "joint_one/bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_one/roll", PROPERTY_HINT_RANGE, "-360, 360, 0.01", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::STRING_NAME, "joint_two/bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::INT, "joint_two/bone_idx", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_two/roll", PROPERTY_HINT_RANGE, "-360, 360, 0.01", PROPERTY_USAGE_DEFAULT));
}
void SkeletonModification3DTwoBoneIK::_execute(real_t p_delta) {
ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr, "Modification is not setup and therefore cannot execute!");
if (!enabled) {
return;
}
if (_print_execution_error(joint_one_bone_idx < 0 || joint_two_bone_idx < 0,
"One (or more) of the bones in the modification have invalid bone indexes. Cannot execute modification!")) {
return;
}
if (target_node_cache == 0) {
_print_execution_error(true, "Target cache is out of date. Attempting to update...");
update_cache_target();
return;
}
// Update joint lengths (if needed)
if (auto_calculate_joint_length && (joint_one_length < 0 || joint_two_length < 0)) {
calculate_joint_lengths();
}
// Adopted from the links below:
// http://theorangeduck.com/page/simple-two-joint
// https://www.alanzucconi.com/2018/05/02/ik-2d-2/
// With modifications by TwistedTwigleg
Spatial *target = Object::cast_to<Spatial>(ObjectDB::get_instance(target_node_cache));
if (_print_execution_error(!target || !target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) {
return;
}
Transform target_trans = stack->skeleton->world_transform_to_global_pose(target->get_global_transform());
Transform bone_one_trans;
Transform bone_two_trans;
// Make the first joint look at the pole, and the second look at the target. That way, the
// TwoBoneIK solver has to really only handle extension/contraction, which should make it align with the pole.
if (use_pole_node) {
if (pole_node_cache == 0) {
_print_execution_error(true, "Pole cache is out of date. Attempting to update...");
update_cache_pole();
return;
}
Spatial *pole = Object::cast_to<Spatial>(ObjectDB::get_instance(pole_node_cache));
if (_print_execution_error(!pole || !pole->is_inside_tree(), "Pole node is not in the scene tree. Cannot execute modification!")) {
return;
}
Transform pole_trans = stack->skeleton->world_transform_to_global_pose(pole->get_global_transform());
Transform bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx);
if (bone_one_local_pos == Transform()) {
bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx);
}
Transform bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx);
if (bone_two_local_pos == Transform()) {
bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx);
}
bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos);
bone_one_trans = bone_one_trans.looking_at(pole_trans.origin, Vector3(0, 1, 0));
bone_one_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_one_bone_idx, bone_one_trans.basis);
stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx);
bone_one_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_one_bone_idx), joint_one_roll);
stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans), stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx);
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos);
bone_two_trans = bone_two_trans.looking_at(target_trans.origin, Vector3(0, 1, 0));
bone_two_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_two_bone_idx, bone_two_trans.basis);
stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll);
stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans), stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
} else {
Transform bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx);
if (bone_one_local_pos == Transform()) {
bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx);
}
Transform bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx);
if (bone_two_local_pos == Transform()) {
bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx);
}
bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos);
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos);
}
Transform bone_two_tip_trans;
if (use_tip_node) {
if (tip_node_cache == 0) {
_print_execution_error(true, "Tip cache is out of date. Attempting to update...");
update_cache_tip();
return;
}
Spatial *tip = Object::cast_to<Spatial>(ObjectDB::get_instance(tip_node_cache));
if (_print_execution_error(!tip || !tip->is_inside_tree(), "Tip node is not in the scene tree. Cannot execute modification!")) {
return;
}
bone_two_tip_trans = stack->skeleton->world_transform_to_global_pose(tip->get_global_transform());
} else {
stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
bone_two_tip_trans = bone_two_trans;
bone_two_tip_trans.origin += bone_two_trans.basis.xform(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx)).normalized() * joint_two_length;
}
real_t joint_one_to_target_length = bone_one_trans.origin.distance_to(target_trans.origin);
if (joint_one_length + joint_two_length < joint_one_to_target_length) {
// Set the target *just* out of reach to straighten the bones
joint_one_to_target_length = joint_one_length + joint_two_length + 0.01;
} else if (joint_one_to_target_length < joint_one_length) {
// Place the target in reach so the solver doesn't do crazy things
joint_one_to_target_length = joint_one_length;
}
// Get the square lengths for all three sides of the triangle we'll use to calculate the angles
real_t sqr_one_length = joint_one_length * joint_one_length;
real_t sqr_two_length = joint_two_length * joint_two_length;
real_t sqr_three_length = joint_one_to_target_length * joint_one_to_target_length;
// Calculate the angles for the first joint using the law of cosigns
real_t ac_ab_0 = Math::acos(CLAMP(bone_two_tip_trans.origin.direction_to(bone_one_trans.origin).dot(bone_two_trans.origin.direction_to(bone_one_trans.origin)), -1, 1));
real_t ac_at_0 = Math::acos(CLAMP(bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).dot(bone_one_trans.origin.direction_to(target_trans.origin)), -1, 1));
real_t ac_ab_1 = Math::acos(CLAMP((sqr_two_length - sqr_one_length - sqr_three_length) / (-2.0 * joint_one_length * joint_one_to_target_length), -1, 1));
// Calculate the angles of rotation. Angle 0 is the extension/contraction axis, while angle 1 is the rotation axis to align the triangle to the target
Vector3 axis_0 = bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).cross(bone_one_trans.origin.direction_to(bone_two_trans.origin));
Vector3 axis_1 = bone_one_trans.origin.direction_to(bone_two_tip_trans.origin).cross(bone_one_trans.origin.direction_to(target_trans.origin));
// Make a quaternion with the delta rotation needed to rotate the first joint into alignment and apply it to the transform.
Quaternion bone_one_quat = bone_one_trans.basis.get_rotation_quaternion();
Quaternion rot_0 = Quaternion(bone_one_quat.inverse().xform(axis_0).normalized(), (ac_ab_1 - ac_ab_0));
Quaternion rot_2 = Quaternion(bone_one_quat.inverse().xform(axis_1).normalized(), ac_at_0);
bone_one_trans.basis.set_quaternion(bone_one_quat * (rot_0 * rot_2));
stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx);
bone_one_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_one_bone_idx), joint_one_roll);
// Apply the rotation to the first joint
bone_one_trans = stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans);
bone_one_trans.origin = Vector3(0, 0, 0);
stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, bone_one_trans, stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx);
if (use_pole_node) {
// Update bone_two_trans so its at the latest position, with the rotation of bone_one_trans taken into account, then look at the target.
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx));
stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
Vector3 forward_vector = stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx);
bone_two_trans.basis.rotate_to_align(forward_vector, bone_two_trans.origin.direction_to(target_trans.origin));
stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll);
bone_two_trans = stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans);
stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, bone_two_trans, stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
} else {
// Calculate the angles for the second joint using the law of cosigns, make a quaternion with the delta rotation needed to rotate the joint into
// alignment, and then apply it to the second joint.
real_t ba_bc_0 = Math::acos(CLAMP(bone_two_trans.origin.direction_to(bone_one_trans.origin).dot(bone_two_trans.origin.direction_to(bone_two_tip_trans.origin)), -1, 1));
real_t ba_bc_1 = Math::acos(CLAMP((sqr_three_length - sqr_one_length - sqr_two_length) / (-2.0 * joint_one_length * joint_two_length), -1, 1));
Quaternion bone_two_quat = bone_two_trans.basis.get_rotation_quaternion();
Quaternion rot_1 = Quaternion(bone_two_quat.inverse().xform(axis_0).normalized(), (ba_bc_1 - ba_bc_0));
bone_two_trans.basis.set_quaternion(bone_two_quat * rot_1);
stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
bone_two_trans.basis.rotate_local(stack->skeleton->get_bone_axis_forward_vector(joint_two_bone_idx), joint_two_roll);
bone_two_trans = stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans);
bone_two_trans.origin = Vector3(0, 0, 0);
stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, bone_two_trans, stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
}
}
void SkeletonModification3DTwoBoneIK::_setup_modification(Ref<SkeletonModificationStack3D> p_stack) {
stack = p_stack.ptr();
if (stack != nullptr) {
is_setup = true;
execution_error_found = false;
update_cache_target();
update_cache_tip();
}
}
void SkeletonModification3DTwoBoneIK::update_cache_target() {
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update target cache: modification is not properly setup!");
return;
}
target_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree() && target_node.is_empty() == false) {
if (stack->skeleton->has_node(target_node)) {
Node *node = stack->skeleton->get_node(target_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update target cache: Target node is this modification's skeleton or cannot be found. Cannot execute modification");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update target cache: Target node is not in the scene tree. Cannot execute modification!");
target_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DTwoBoneIK::update_cache_tip() {
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update tip cache: modification is not properly setup!");
return;
}
tip_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(tip_node)) {
Node *node = stack->skeleton->get_node(tip_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update tip cache: Tip node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update tip cache: Tip node is not in the scene tree. Cannot execute modification!");
tip_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DTwoBoneIK::update_cache_pole() {
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update pole cache: modification is not properly setup!");
return;
}
pole_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(pole_node)) {
Node *node = stack->skeleton->get_node(pole_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update pole cache: Pole node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update pole cache: Pole node is not in the scene tree. Cannot execute modification!");
pole_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DTwoBoneIK::set_target_node(const NodePath &p_target_node) {
target_node = p_target_node;
update_cache_target();
}
NodePath SkeletonModification3DTwoBoneIK::get_target_node() const {
return target_node;
}
void SkeletonModification3DTwoBoneIK::set_use_tip_node(const bool p_use_tip_node) {
use_tip_node = p_use_tip_node;
property_list_changed_notify();
}
bool SkeletonModification3DTwoBoneIK::get_use_tip_node() const {
return use_tip_node;
}
void SkeletonModification3DTwoBoneIK::set_tip_node(const NodePath &p_tip_node) {
tip_node = p_tip_node;
update_cache_tip();
}
NodePath SkeletonModification3DTwoBoneIK::get_tip_node() const {
return tip_node;
}
void SkeletonModification3DTwoBoneIK::set_use_pole_node(const bool p_use_pole_node) {
use_pole_node = p_use_pole_node;
property_list_changed_notify();
}
bool SkeletonModification3DTwoBoneIK::get_use_pole_node() const {
return use_pole_node;
}
void SkeletonModification3DTwoBoneIK::set_pole_node(const NodePath &p_pole_node) {
pole_node = p_pole_node;
update_cache_pole();
}
NodePath SkeletonModification3DTwoBoneIK::get_pole_node() const {
return pole_node;
}
void SkeletonModification3DTwoBoneIK::set_auto_calculate_joint_length(bool p_calculate) {
auto_calculate_joint_length = p_calculate;
if (p_calculate) {
calculate_joint_lengths();
}
property_list_changed_notify();
}
bool SkeletonModification3DTwoBoneIK::get_auto_calculate_joint_length() const {
return auto_calculate_joint_length;
}
void SkeletonModification3DTwoBoneIK::calculate_joint_lengths() {
if (!is_setup) {
return; // fail silently, as we likely just loaded the scene.
}
ERR_FAIL_COND_MSG(!stack || stack->skeleton == nullptr,
"Modification is not setup and therefore cannot calculate joint lengths!");
ERR_FAIL_COND_MSG(joint_one_bone_idx <= -1 || joint_two_bone_idx <= -1,
"One of the bones in the TwoBoneIK modification are not set! Cannot calculate joint lengths!");
Transform bone_one_rest_trans = stack->skeleton->get_bone_global_pose(joint_one_bone_idx);
Transform bone_two_rest_trans = stack->skeleton->get_bone_global_pose(joint_two_bone_idx);
joint_one_length = bone_one_rest_trans.origin.distance_to(bone_two_rest_trans.origin);
if (use_tip_node) {
if (tip_node_cache == 0) {
update_cache_tip();
WARN_PRINT("Tip cache is out of date. Updating...");
}
Spatial *tip = Object::cast_to<Spatial>(ObjectDB::get_instance(tip_node_cache));
if (tip) {
Transform bone_tip_trans = stack->skeleton->world_transform_to_global_pose(tip->get_global_transform());
joint_two_length = bone_two_rest_trans.origin.distance_to(bone_tip_trans.origin);
}
} else {
// Attempt to use children bones to get the length
Vector<int> bone_two_children = stack->skeleton->get_bone_children(joint_two_bone_idx);
if (bone_two_children.size() > 0) {
joint_two_length = 0;
for (int i = 0; i < bone_two_children.size(); i++) {
joint_two_length += bone_two_rest_trans.origin.distance_to(
stack->skeleton->get_bone_global_pose(bone_two_children[i]).origin);
}
joint_two_length = joint_two_length / bone_two_children.size();
} else {
WARN_PRINT("TwoBoneIK modification: Cannot auto calculate length for joint 2! Auto setting the length to 1...");
joint_two_length = 1.0;
}
}
execution_error_found = false;
}
void SkeletonModification3DTwoBoneIK::set_joint_one_bone_name(String p_bone_name) {
joint_one_bone_name = p_bone_name;
if (stack && stack->skeleton) {
joint_one_bone_idx = stack->skeleton->find_bone(p_bone_name);
}
execution_error_found = false;
property_list_changed_notify();
}
String SkeletonModification3DTwoBoneIK::get_joint_one_bone_name() const {
return joint_one_bone_name;
}
void SkeletonModification3DTwoBoneIK::set_joint_one_bone_idx(int p_bone_idx) {
joint_one_bone_idx = p_bone_idx;
if (stack && stack->skeleton) {
joint_one_bone_name = stack->skeleton->get_bone_name(p_bone_idx);
}
execution_error_found = false;
property_list_changed_notify();
}
int SkeletonModification3DTwoBoneIK::get_joint_one_bone_idx() const {
return joint_one_bone_idx;
}
void SkeletonModification3DTwoBoneIK::set_joint_one_length(real_t p_length) {
joint_one_length = p_length;
}
real_t SkeletonModification3DTwoBoneIK::get_joint_one_length() const {
return joint_one_length;
}
void SkeletonModification3DTwoBoneIK::set_joint_two_bone_name(String p_bone_name) {
joint_two_bone_name = p_bone_name;
if (stack && stack->skeleton) {
joint_two_bone_idx = stack->skeleton->find_bone(p_bone_name);
}
execution_error_found = false;
property_list_changed_notify();
}
String SkeletonModification3DTwoBoneIK::get_joint_two_bone_name() const {
return joint_two_bone_name;
}
void SkeletonModification3DTwoBoneIK::set_joint_two_bone_idx(int p_bone_idx) {
joint_two_bone_idx = p_bone_idx;
if (stack && stack->skeleton) {
joint_two_bone_name = stack->skeleton->get_bone_name(p_bone_idx);
}
execution_error_found = false;
property_list_changed_notify();
}
int SkeletonModification3DTwoBoneIK::get_joint_two_bone_idx() const {
return joint_two_bone_idx;
}
void SkeletonModification3DTwoBoneIK::set_joint_two_length(real_t p_length) {
joint_two_length = p_length;
}
real_t SkeletonModification3DTwoBoneIK::get_joint_two_length() const {
return joint_two_length;
}
void SkeletonModification3DTwoBoneIK::set_joint_one_roll(real_t p_roll) {
joint_one_roll = p_roll;
}
real_t SkeletonModification3DTwoBoneIK::get_joint_one_roll() const {
return joint_one_roll;
}
void SkeletonModification3DTwoBoneIK::set_joint_two_roll(real_t p_roll) {
joint_two_roll = p_roll;
}
real_t SkeletonModification3DTwoBoneIK::get_joint_two_roll() const {
return joint_two_roll;
}
void SkeletonModification3DTwoBoneIK::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DTwoBoneIK::set_target_node);
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DTwoBoneIK::get_target_node);
ClassDB::bind_method(D_METHOD("set_use_pole_node", "use_pole_node"), &SkeletonModification3DTwoBoneIK::set_use_pole_node);
ClassDB::bind_method(D_METHOD("get_use_pole_node"), &SkeletonModification3DTwoBoneIK::get_use_pole_node);
ClassDB::bind_method(D_METHOD("set_pole_node", "pole_nodepath"), &SkeletonModification3DTwoBoneIK::set_pole_node);
ClassDB::bind_method(D_METHOD("get_pole_node"), &SkeletonModification3DTwoBoneIK::get_pole_node);
ClassDB::bind_method(D_METHOD("set_use_tip_node", "use_tip_node"), &SkeletonModification3DTwoBoneIK::set_use_tip_node);
ClassDB::bind_method(D_METHOD("get_use_tip_node"), &SkeletonModification3DTwoBoneIK::get_use_tip_node);
ClassDB::bind_method(D_METHOD("set_tip_node", "tip_nodepath"), &SkeletonModification3DTwoBoneIK::set_tip_node);
ClassDB::bind_method(D_METHOD("get_tip_node"), &SkeletonModification3DTwoBoneIK::get_tip_node);
ClassDB::bind_method(D_METHOD("set_auto_calculate_joint_length", "auto_calculate_joint_length"), &SkeletonModification3DTwoBoneIK::set_auto_calculate_joint_length);
ClassDB::bind_method(D_METHOD("get_auto_calculate_joint_length"), &SkeletonModification3DTwoBoneIK::get_auto_calculate_joint_length);
ClassDB::bind_method(D_METHOD("set_joint_one_bone_name", "bone_name"), &SkeletonModification3DTwoBoneIK::set_joint_one_bone_name);
ClassDB::bind_method(D_METHOD("get_joint_one_bone_name"), &SkeletonModification3DTwoBoneIK::get_joint_one_bone_name);
ClassDB::bind_method(D_METHOD("set_joint_one_bone_idx", "bone_idx"), &SkeletonModification3DTwoBoneIK::set_joint_one_bone_idx);
ClassDB::bind_method(D_METHOD("get_joint_one_bone_idx"), &SkeletonModification3DTwoBoneIK::get_joint_one_bone_idx);
ClassDB::bind_method(D_METHOD("set_joint_one_length", "bone_length"), &SkeletonModification3DTwoBoneIK::set_joint_one_length);
ClassDB::bind_method(D_METHOD("get_joint_one_length"), &SkeletonModification3DTwoBoneIK::get_joint_one_length);
ClassDB::bind_method(D_METHOD("set_joint_two_bone_name", "bone_name"), &SkeletonModification3DTwoBoneIK::set_joint_two_bone_name);
ClassDB::bind_method(D_METHOD("get_joint_two_bone_name"), &SkeletonModification3DTwoBoneIK::get_joint_two_bone_name);
ClassDB::bind_method(D_METHOD("set_joint_two_bone_idx", "bone_idx"), &SkeletonModification3DTwoBoneIK::set_joint_two_bone_idx);
ClassDB::bind_method(D_METHOD("get_joint_two_bone_idx"), &SkeletonModification3DTwoBoneIK::get_joint_two_bone_idx);
ClassDB::bind_method(D_METHOD("set_joint_two_length", "bone_length"), &SkeletonModification3DTwoBoneIK::set_joint_two_length);
ClassDB::bind_method(D_METHOD("get_joint_two_length"), &SkeletonModification3DTwoBoneIK::get_joint_two_length);
ClassDB::bind_method(D_METHOD("set_joint_one_roll", "roll"), &SkeletonModification3DTwoBoneIK::set_joint_one_roll);
ClassDB::bind_method(D_METHOD("get_joint_one_roll"), &SkeletonModification3DTwoBoneIK::get_joint_one_roll);
ClassDB::bind_method(D_METHOD("set_joint_two_roll", "roll"), &SkeletonModification3DTwoBoneIK::set_joint_two_roll);
ClassDB::bind_method(D_METHOD("get_joint_two_roll"), &SkeletonModification3DTwoBoneIK::get_joint_two_roll);
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Spatial"), "set_target_node", "get_target_node");
ADD_GROUP("", "");
}
SkeletonModification3DTwoBoneIK::SkeletonModification3DTwoBoneIK() {
stack = nullptr;
is_setup = false;
target_node_cache = 0;
use_tip_node = false;
tip_node_cache = 0;
use_pole_node = false;
pole_node_cache = 0;
joint_one_bone_idx = -1;
joint_two_bone_idx = -1;
auto_calculate_joint_length = false;
joint_one_length = -1;
joint_two_length = -1;
joint_one_roll = 0;
joint_two_roll = 0;
}
SkeletonModification3DTwoBoneIK::~SkeletonModification3DTwoBoneIK() {
}
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