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72 lines
4.0 KiB
C++
72 lines
4.0 KiB
C++
/**************************************************************************/
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/* ccd_ik_3d.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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#include "ccd_ik_3d.h"
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void CCDIK3D::_solve_iteration(double p_delta, Skeleton3D *p_skeleton, IterateIK3DSetting *p_setting, const Vector3 &p_destination) {
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int joint_size = (int)p_setting->joints.size();
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int chain_size = (int)p_setting->chain.size();
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// Backwards.
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for (int ancestor = joint_size - 1; ancestor >= 0; ancestor--) {
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// Forwards.
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for (int i = ancestor; i < joint_size; i++) {
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IKModifier3DSolverInfo *solver_info = p_setting->solver_info_list[i];
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if (!solver_info || Math::is_zero_approx(solver_info->length)) {
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continue;
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}
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int HEAD = i;
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int TAIL = i + 1;
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Vector3 current_head = p_setting->chain[HEAD];
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Vector3 current_effector = p_setting->chain[chain_size - 1];
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Vector3 head_to_effector = current_effector - current_head;
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Vector3 head_to_destination = p_destination - current_head;
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if (Math::is_zero_approx(head_to_destination.length_squared() * head_to_effector.length_squared())) {
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continue;
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}
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Quaternion to_rot = Quaternion(head_to_effector.normalized(), head_to_destination.normalized());
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Vector3 to_tail = p_setting->chain[TAIL] - current_head;
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p_setting->update_chain_coordinate_fw(p_skeleton, TAIL, current_head + to_rot.xform(to_tail));
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if (p_setting->joint_settings[HEAD]->rotation_axis != ROTATION_AXIS_ALL) {
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p_setting->update_chain_coordinate_fw(p_skeleton, TAIL, p_setting->chain[HEAD] + p_setting->joint_settings[HEAD]->get_projected_rotation(solver_info->current_grest, p_setting->chain[TAIL] - p_setting->chain[HEAD]));
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}
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if (p_setting->joint_settings[HEAD]->limitation.is_valid()) {
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p_setting->update_chain_coordinate_fw(p_skeleton, TAIL, p_setting->chain[HEAD] + p_setting->joint_settings[HEAD]->get_limited_rotation(solver_info->current_grest, p_setting->chain[TAIL] - p_setting->chain[HEAD], solver_info->forward_vector));
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}
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}
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}
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}
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