/**************************************************************************/
/* chain_ik_3d_gizmo_plugin.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 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 */
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/* 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. */
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/**************************************************************************/
#include "chain_ik_3d_gizmo_plugin.h"
#include "editor/settings/editor_settings.h"
#include "scene/3d/iterate_ik_3d.h"
#include "scene/resources/surface_tool.h"
ChainIK3DGizmoPlugin::SelectionMaterials ChainIK3DGizmoPlugin::selection_materials;
ChainIK3DGizmoPlugin::ChainIK3DGizmoPlugin() {
selection_materials.unselected_mat.instantiate();
selection_materials.unselected_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
selection_materials.unselected_mat->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
selection_materials.unselected_mat->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
selection_materials.unselected_mat->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true);
selection_materials.unselected_mat->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
selection_materials.selected_mat.instantiate();
Ref<Shader> sh;
sh.instantiate();
sh->set_code(R"(
// Skeleton 3D gizmo bones shader.
shader_type spatial;
render_mode unshaded, shadows_disabled;
void vertex() {
if (!OUTPUT_IS_SRGB) {
COLOR.rgb = mix(pow((COLOR.rgb + vec3(0.055)) * (1.0 / (1.0 + 0.055)), vec3(2.4)), COLOR.rgb * (1.0 / 12.92), lessThan(COLOR.rgb,vec3(0.04045)));
}
VERTEX = VERTEX;
POSITION = PROJECTION_MATRIX * VIEW_MATRIX * MODEL_MATRIX * vec4(VERTEX.xyz, 1.0);
POSITION.z = mix(POSITION.z, POSITION.w, 0.998);
}
void fragment() {
ALBEDO = COLOR.rgb;
ALPHA = COLOR.a;
}
)");
selection_materials.selected_mat->set_shader(sh);
}
ChainIK3DGizmoPlugin::~ChainIK3DGizmoPlugin() {
selection_materials.unselected_mat.unref();
selection_materials.selected_mat.unref();
}
bool ChainIK3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
return Object::cast_to<ChainIK3D>(p_spatial) != nullptr;
}
String ChainIK3DGizmoPlugin::get_gizmo_name() const {
return "ChainIK3D";
}
int ChainIK3DGizmoPlugin::get_priority() const {
return -1;
}
void ChainIK3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
ChainIK3D *ik = Object::cast_to<ChainIK3D>(p_gizmo->get_node_3d());
p_gizmo->clear();
if (!ik->get_setting_count()) {
return;
}
Skeleton3D *skeleton = ik->get_skeleton();
if (!skeleton) {
return;
}
Ref<ArrayMesh> skeleton_mesh;
Ref<ArrayMesh> mesh;
get_joints_mesh(skeleton, ik, p_gizmo->is_selected(), skeleton_mesh, mesh);
Transform3D skel_tr = ik->get_global_transform().inverse() * skeleton->get_global_transform();
p_gizmo->add_mesh(skeleton_mesh, Ref<Material>(), skel_tr, skeleton->register_skin(skeleton->create_skin_from_rest_transforms()));
p_gizmo->add_mesh(mesh, Ref<Material>(), skel_tr);
}
void ChainIK3DGizmoPlugin::get_joints_mesh(Skeleton3D *p_skeleton, ChainIK3D *p_ik, bool p_is_selected, Ref<ArrayMesh> &r_skinned_mesh, Ref<ArrayMesh> &r_mesh) {
Color bone_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/ik_chain");
static const Color limitation_x_axis_color = Color(1, 0, 0, 1);
static const Color limitation_z_axis_color = Color(0, 0, 1, 1);
IterateIK3D *it_ik = Object::cast_to<IterateIK3D>(p_ik);
Ref<SurfaceTool> surface_tool;
surface_tool.instantiate();
surface_tool->begin(Mesh::PRIMITIVE_LINES);
Ref<SurfaceTool> surface_tool_without_skin;
surface_tool_without_skin.instantiate();
surface_tool_without_skin->begin(Mesh::PRIMITIVE_LINES);
if (p_is_selected) {
surface_tool->set_material(selection_materials.selected_mat);
surface_tool_without_skin->set_material(selection_materials.selected_mat);
} else {
selection_materials.unselected_mat->set_albedo(bone_color);
surface_tool->set_material(selection_materials.unselected_mat);
surface_tool_without_skin->set_material(selection_materials.unselected_mat);
}
PackedInt32Array bones;
PackedFloat32Array weights;
bones.resize(4);
weights.resize(4);
for (int i = 0; i < 4; i++) {
bones.write[i] = 0;
weights.write[i] = 0;
}
weights.write[0] = 1;
for (int i = 0; i < p_ik->get_setting_count(); i++) {
int current_bone = -1;
int prev_bone = -1;
int joint_end = p_ik->get_joint_count(i) - 1;
float prev_length = INFINITY;
bool is_extended = p_ik->is_end_bone_extended(i) && p_ik->get_end_bone_length(i) > 0;
Transform3D anc_global_pose = p_ik->get_chain_root_global_rest(i);
for (int j = 0; j <= joint_end; j++) {
current_bone = p_ik->get_joint_bone(i, j);
if (j > 0) {
int prev_joint = j - 1;
Transform3D parent_global_pose = p_skeleton->get_bone_global_rest(prev_bone);
Vector3 bone_vector = p_ik->get_bone_vector(i, prev_joint);
float current_length = bone_vector.length();
Vector3 center = parent_global_pose.translated_local(bone_vector).origin;
draw_line(surface_tool, parent_global_pose.origin, center, bone_color);
if (it_ik) {
// Draw rotation axis vector if not ROTATION_AXIS_ALL.
if (j != joint_end || (j == joint_end && is_extended)) {
SkeletonModifier3D::RotationAxis rotation_axis = it_ik->get_joint_rotation_axis(i, j);
if (rotation_axis != SkeletonModifier3D::ROTATION_AXIS_ALL) {
Vector3 axis_vector = it_ik->get_joint_rotation_axis_vector(i, j);
if (!axis_vector.is_zero_approx()) {
float rot_axis_length = bone_vector.length() * 0.2; // Use 20% of the bone length for the rotation axis vector.
Vector3 axis = parent_global_pose.basis.xform(axis_vector.normalized()) * rot_axis_length;
draw_line(surface_tool, center - axis, center + axis, bone_color);
}
}
}
// Draw parent limitation shape.
Ref<JointLimitation3D> lim = it_ik->get_joint_limitation(i, prev_joint);
if (lim.is_valid() && prev_bone >= 0) {
// Limitation space should bind parent bone rest.
int parent = p_skeleton->get_bone_parent(prev_bone);
Ref<SurfaceTool> limitation_surface_tool = parent >= 0 ? surface_tool : surface_tool_without_skin;
if (parent >= 0) {
bones.write[0] = parent;
limitation_surface_tool->set_bones(bones);
limitation_surface_tool->set_weights(weights);
}
Transform3D tr = anc_global_pose;
tr.basis *= it_ik->get_joint_limitation_space(i, prev_joint, bone_vector.normalized());
float sl = MIN(current_length, prev_length);
lim->draw_shape(limitation_surface_tool, tr, sl, bone_color);
sl *= 0.1;
Vector3 x_axis = tr.basis.get_column(Vector3::AXIS_X).normalized() * sl;
Vector3 z_axis = tr.basis.get_column(Vector3::AXIS_Z).normalized() * sl;
draw_line(limitation_surface_tool, tr.origin + x_axis * 2, tr.origin + x_axis * 3, limitation_x_axis_color); // Offset 20%.
draw_line(limitation_surface_tool, tr.origin + z_axis * 2, tr.origin + z_axis * 3, limitation_z_axis_color); // Offset 20%.
}
}
prev_length = current_length;
Transform3D tr = p_skeleton->get_bone_rest(current_bone);
tr.origin = bone_vector;
parent_global_pose *= tr;
anc_global_pose = parent_global_pose;
}
if (j == joint_end && is_extended) {
Transform3D current_global_pose = p_skeleton->get_bone_global_rest(current_bone);
Vector3 bone_vector = p_ik->get_bone_vector(i, j);
if (bone_vector.is_zero_approx()) {
continue;
}
float current_length = bone_vector.length();
bones.write[0] = current_bone;
surface_tool->set_bones(bones);
surface_tool->set_weights(weights);
Vector3 center = current_global_pose.translated_local(bone_vector).origin;
draw_line(surface_tool, current_global_pose.origin, center, bone_color);
if (it_ik) {
// Draw limitation shape.
Ref<JointLimitation3D> lim = it_ik->get_joint_limitation(i, j);
if (lim.is_valid() && current_bone >= 0) {
// Limitation space should bind parent bone rest.
int parent = p_skeleton->get_bone_parent(current_bone);
Ref<SurfaceTool> limitation_surface_tool = parent >= 0 ? surface_tool : surface_tool_without_skin;
if (parent >= 0) {
bones.write[0] = parent;
limitation_surface_tool->set_bones(bones);
limitation_surface_tool->set_weights(weights);
}
Transform3D tr = anc_global_pose;
tr.basis *= it_ik->get_joint_limitation_space(i, j, bone_vector.normalized());
float sl = MIN(current_length, prev_length);
lim->draw_shape(limitation_surface_tool, tr, sl, bone_color);
sl *= 0.1;
Vector3 x_axis = tr.basis.get_column(Vector3::AXIS_X).normalized() * sl;
Vector3 z_axis = tr.basis.get_column(Vector3::AXIS_Z).normalized() * sl;
draw_line(limitation_surface_tool, tr.origin + x_axis * 2, tr.origin + x_axis * 3, limitation_x_axis_color); // Offset 20%.
draw_line(limitation_surface_tool, tr.origin + z_axis * 2, tr.origin + z_axis * 3, limitation_z_axis_color); // Offset 20%.
}
}
} else {
bones.write[0] = current_bone;
surface_tool->set_bones(bones);
surface_tool->set_weights(weights);
if (j == 0) {
// Check if the next bone exists.
int count = p_ik->get_joint_count(i);
if (count < 2) {
continue;
}
if (it_ik) {
// Draw rotation axis vector if not ROTATION_AXIS_ALL.
SkeletonModifier3D::RotationAxis rotation_axis = it_ik->get_joint_rotation_axis(i, j);
if (rotation_axis != SkeletonModifier3D::ROTATION_AXIS_ALL) {
Vector3 axis_vector = it_ik->get_joint_rotation_axis_vector(i, j);
if (!axis_vector.is_zero_approx()) {
Vector3 bone_vector = p_ik->get_bone_vector(i, j);
float rot_axis_length = bone_vector.length() * 0.2; // Use 20% of the bone length for the rotation axis vector.
Vector3 axis = anc_global_pose.basis.xform(axis_vector.normalized()) * rot_axis_length;
draw_line(surface_tool, anc_global_pose.origin - axis, anc_global_pose.origin + axis, bone_color);
}
}
}
}
}
prev_bone = current_bone;
}
}
r_skinned_mesh = surface_tool->commit();
r_mesh = surface_tool_without_skin->commit();
}
void ChainIK3DGizmoPlugin::draw_line(Ref<SurfaceTool> &p_surface_tool, const Vector3 &p_begin_pos, const Vector3 &p_end_pos, const Color &p_color) {
p_surface_tool->set_color(p_color);
p_surface_tool->add_vertex(p_begin_pos);
p_surface_tool->set_color(p_color);
p_surface_tool->add_vertex(p_end_pos);
}