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193 lines
7.9 KiB
C++
193 lines
7.9 KiB
C++
/**************************************************************************/
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/* spline_ik_3d.h */
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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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#pragma once
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#include "scene/3d/chain_ik_3d.h"
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#include "scene/3d/path_3d.h"
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class SplineIK3D : public ChainIK3D {
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GDCLASS(SplineIK3D, ChainIK3D);
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public:
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struct SplineIK3DSetting : public ChainIK3DSetting {
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NodePath path_3d;
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bool tilt_enabled = true;
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int tilt_fade_in = 1;
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int tilt_fade_out = 1;
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LocalVector<double> chain_length_accum;
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LocalVector<double> twists;
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// Find the nearest point.
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int32_t find_nearest_point(const Vector3 &p_origin, double p_length_sq, const PackedVector3Array &p_points, bool p_is_path_closed, uint32_t p_first, double *r_ret) {
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ERR_FAIL_COND_V(p_first >= p_points.size(), p_points.size() - 1);
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uint32_t i = p_first;
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if (p_is_path_closed) {
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while (true) {
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if (p_origin.distance_squared_to(p_points[i]) >= p_length_sq) {
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break;
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}
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i++;
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i = Math::posmod(i, p_points.size());
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if (i == p_first) {
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i = p_points.size();
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break; // Can't found, use last.
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}
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}
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} else {
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while (i < p_points.size()) {
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if (p_origin.distance_squared_to(p_points[i]) >= p_length_sq) {
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break;
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}
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i++;
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}
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}
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if (i == 0) {
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*r_ret = 0.0;
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return p_first;
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} else if (i >= p_points.size()) {
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*r_ret = 1.0;
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return i;
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}
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*r_ret = Math::inverse_lerp((double)p_origin.distance_squared_to(p_points[i - 1]), (double)p_origin.distance_squared_to(p_points[i]), p_length_sq);
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return i - 1;
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}
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// Make rotation as bone pose from chain coordinates.
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void cache_current_joint_rotations(Skeleton3D *p_skeleton, bool p_use_tilt = false) {
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Transform3D parent_gpose_tr;
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int parent = p_skeleton->get_bone_parent(root_bone.bone);
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if (parent >= 0) {
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parent_gpose_tr = p_skeleton->get_bone_global_pose(parent);
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}
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Quaternion parent_gpose = parent_gpose_tr.basis.get_rotation_quaternion();
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if (p_use_tilt) {
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double parent_twist = 0.0;
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for (uint32_t i = 0; i < joints.size(); i++) {
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int HEAD = i;
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IKModifier3DSolverInfo *solver_info = solver_info_list[HEAD];
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if (!solver_info) {
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continue;
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}
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solver_info->current_lrest = p_skeleton->get_bone_pose(joints[HEAD].bone).basis.get_rotation_quaternion();
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solver_info->current_grest = parent_gpose * solver_info->current_lrest;
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solver_info->current_grest.normalize();
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Vector3 from = solver_info->forward_vector;
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Vector3 to = solver_info->current_grest.xform_inv(solver_info->current_vector).normalized();
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Basis b = get_swing(Quaternion(from, to), from);
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b.rotate_local(from, twists[HEAD] - parent_twist);
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parent_twist = twists[HEAD];
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solver_info->current_lpose = solver_info->current_lrest * b.get_rotation_quaternion();
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solver_info->current_gpose = parent_gpose * solver_info->current_lpose;
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solver_info->current_gpose.normalize();
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parent_gpose = solver_info->current_gpose;
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}
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} else {
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for (uint32_t i = 0; i < joints.size(); i++) {
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int HEAD = i;
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IKModifier3DSolverInfo *solver_info = solver_info_list[HEAD];
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if (!solver_info) {
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continue;
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}
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solver_info->current_lrest = p_skeleton->get_bone_pose(joints[HEAD].bone).basis.get_rotation_quaternion();
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solver_info->current_grest = parent_gpose * solver_info->current_lrest;
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solver_info->current_grest.normalize();
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Vector3 from = solver_info->forward_vector;
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Vector3 to = solver_info->current_grest.xform_inv(solver_info->current_vector).normalized();
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solver_info->current_lpose = solver_info->current_lrest * get_swing(Quaternion(from, to), from);
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solver_info->current_gpose = parent_gpose * solver_info->current_lpose;
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solver_info->current_gpose.normalize();
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parent_gpose = solver_info->current_gpose;
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}
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}
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// To update positions in preprocess of _process_joints().
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cache_current_vectors(p_skeleton);
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}
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};
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protected:
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LocalVector<SplineIK3DSetting *> sp_settings; // For caching.
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bool _get(const StringName &p_path, Variant &r_ret) const;
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bool _set(const StringName &p_path, const Variant &p_value);
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void _get_property_list(List<PropertyInfo> *p_list) const;
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void _validate_dynamic_prop(PropertyInfo &p_property) const;
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static void _bind_methods();
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virtual void _init_joints(Skeleton3D *p_skeleton, int p_index) override;
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virtual void _make_simulation_dirty(int p_index) override;
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virtual void _update_bone_axis(Skeleton3D *p_skeleton, int p_index) override;
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virtual void _process_ik(Skeleton3D *p_skeleton, double p_delta) override;
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void _process_joints(double p_delta, Skeleton3D *p_skeleton, SplineIK3DSetting *p_setting, Ref<Curve3D> p_curve, const Transform3D &p_curve_space);
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virtual void _set_joint_count(int p_index, int p_count) override;
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public:
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virtual PackedStringArray get_configuration_warnings() const override;
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virtual void set_setting_count(int p_count) override {
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_set_setting_count<SplineIK3DSetting>(p_count);
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sp_settings = _cast_settings<SplineIK3DSetting>();
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chain_settings = _cast_settings<ChainIK3DSetting>(); // Don't forget to sync super class settings.
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}
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virtual void clear_settings() override {
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_set_setting_count<SplineIK3DSetting>(0);
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sp_settings.clear();
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chain_settings.clear(); // Don't forget to sync super class settings.
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}
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// Setting.
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void set_path_3d(int p_index, const NodePath &p_path_3d);
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NodePath get_path_3d(int p_index) const;
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void set_tilt_enabled(int p_index, bool p_enabled);
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bool is_tilt_enabled(int p_index) const;
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void set_tilt_fade_in(int p_index, int p_size);
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int get_tilt_fade_in(int p_index) const;
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void set_tilt_fade_out(int p_index, int p_size);
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int get_tilt_fade_out(int p_index) const;
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// Helper.
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double get_bezier_arc_length();
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#ifdef TOOLS_ENABLED
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virtual Vector3 get_bone_vector(int p_index, int p_joint) const override;
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#endif // TOOLS_ENABLED
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~SplineIK3D();
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};
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