/**************************************************************************/
/* chain_ik_3d.h */
/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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#pragma once
#include "scene/3d/ik_modifier_3d.h"
class ChainIK3D : public IKModifier3D {
GDCLASS(ChainIK3D, IKModifier3D);
public:
struct ChainIK3DSetting : public IKModifier3DSetting {
#ifdef TOOLS_ENABLED
// Note:
// To cache global rest on global pose in SkeletonModifier process.
// Since gizmo drawing might be processed after SkeletonModifier process,
// so the gizmo which depend on modified pose is not drawn correctly.
// Especially, limitation sphere is needed this since it bound mutable bone axis which retrieve by bone pose to the parent bone rest.
Transform3D root_global_rest;
#endif // TOOLS_ENABLED
BoneJoint root_bone;
BoneJoint end_bone;
// To make virtual end joint.
bool extend_end_bone = false;
BoneDirection end_bone_direction = BONE_DIRECTION_FROM_PARENT;
float end_bone_length = 0.0;
LocalVector<BoneJoint> joints;
LocalVector<IKModifier3DSolverInfo *> solver_info_list;
LocalVector<Vector3> chain;
// Only update chain coordinates to avoid to override previous result (bone poses).
// Chain coordinates will be converted to bone pose by child class cache_current_joint_rotations() in the end of iterating.
void update_chain_coordinate(Skeleton3D *p_skeleton, int p_index, const Vector3 &p_position) {
// Don't update if the position is same as the current position ().
// But distance_squared_to() is unsuitable because converting position to rotation requires a certain level of precision.
if (Math::is_zero_approx(chain[p_index].distance_to(p_position))) {
return;
}
// Allow flipping.
chain[p_index] = p_position;
cache_current_vector(p_skeleton, p_index);
}
void update_chain_coordinate_bw(Skeleton3D *p_skeleton, int p_index, const Vector3 &p_position) {
// Don't update if the position is same as the current position.
// But distance_squared_to() is unsuitable because converting position to rotation requires a certain level of precision.
if (Math::is_zero_approx(chain[p_index].distance_to(p_position))) {
return;
}
// Prevent flipping from backwards.
Vector3 result = p_position;
int HEAD = p_index - 1;
int TAIL = p_index;
if (HEAD >= 0 && HEAD < (int)solver_info_list.size()) {
IKModifier3DSolverInfo *solver_info = solver_info_list[HEAD];
if (solver_info) {
Vector3 old_head_to_tail = solver_info->current_vector;
Vector3 new_head_to_tail = (result - chain[HEAD]).normalized();
if (Math::is_equal_approx((double)old_head_to_tail.dot(new_head_to_tail), -1.0)) {
chain[TAIL] = chain[HEAD] + old_head_to_tail * solver_info->length; // Revert.
return; // No change, cache is not updated.
}
}
}
chain[p_index] = result;
cache_current_vector(p_skeleton, p_index);
}
void update_chain_coordinate_fw(Skeleton3D *p_skeleton, int p_index, const Vector3 &p_position) {
// Don't update if the position is same as the current position.
// But distance_squared_to() is unsuitable because converting position to rotation requires a certain level of precision.
if (Math::is_zero_approx(chain[p_index].distance_to(p_position))) {
return;
}
// Prevent flipping from forwards.
Vector3 result = p_position;
int HEAD = p_index;
int TAIL = p_index + 1;
if (TAIL >= 0 && TAIL < (int)solver_info_list.size()) {
IKModifier3DSolverInfo *solver_info = solver_info_list[HEAD];
if (solver_info) {
Vector3 old_head_to_tail = solver_info->current_vector;
Vector3 new_head_to_tail = (chain[TAIL] - result).normalized();
if (Math::is_equal_approx((double)old_head_to_tail.dot(new_head_to_tail), -1.0)) {
chain[HEAD] = chain[TAIL] - old_head_to_tail * solver_info->length; // Revert.
return; // No change, cache is not updated.
}
}
}
chain[p_index] = result;
cache_current_vector(p_skeleton, p_index);
}
void cache_current_vector(Skeleton3D *p_skeleton, int p_index) {
int cur_head = p_index - 1;
int cur_tail = p_index;
if (cur_head >= 0) {
IKModifier3DSolverInfo *solver_info = solver_info_list[cur_head];
if (solver_info) {
solver_info->current_vector = (chain[cur_tail] - chain[cur_head]).normalized();
}
}
cur_head = p_index;
cur_tail = p_index + 1;
if (cur_tail < (int)chain.size()) {
IKModifier3DSolverInfo *solver_info = solver_info_list[cur_head];
if (solver_info) {
solver_info->current_vector = (chain[cur_tail] - chain[cur_head]).normalized();
}
}
}
void cache_current_vectors(Skeleton3D *p_skeleton) {
for (uint32_t i = 0; i < joints.size(); i++) {
int HEAD = i;
int TAIL = i + 1;
IKModifier3DSolverInfo *solver_info = solver_info_list[HEAD];
if (!solver_info) {
continue;
}
solver_info->current_vector = (chain[TAIL] - chain[HEAD]).normalized();
}
}
void init_current_joint_rotations(Skeleton3D *p_skeleton) {
if (root_bone.bone < 0) {
return;
}
Quaternion parent_gpose;
int parent = p_skeleton->get_bone_parent(root_bone.bone);
if (parent >= 0) {
parent_gpose = p_skeleton->get_bone_global_pose(parent).basis.get_rotation_quaternion();
}
for (uint32_t i = 0; i < joints.size(); i++) {
IKModifier3DSolverInfo *solver_info = solver_info_list[i];
if (!solver_info) {
continue;
}
solver_info->current_lrest = p_skeleton->get_bone_pose(joints[i].bone).basis.get_rotation_quaternion();
solver_info->current_grest = parent_gpose * solver_info->current_lrest;
solver_info->current_grest.normalize();
solver_info->current_lpose = p_skeleton->get_bone_pose(joints[i].bone).basis.get_rotation_quaternion();
solver_info->current_gpose = parent_gpose * solver_info->current_lpose;
solver_info->current_gpose.normalize();
parent_gpose = solver_info->current_gpose;
}
cache_current_vectors(p_skeleton);
}
~ChainIK3DSetting() {
for (uint32_t i = 0; i < solver_info_list.size(); i++) {
if (solver_info_list[i]) {
memdelete(solver_info_list[i]);
solver_info_list[i] = nullptr;
}
}
solver_info_list.clear();
}
};
protected:
#ifdef TOOLS_ENABLED
virtual void _update_mutable_info() override;
#endif // TOOLS_ENABLED
LocalVector<ChainIK3DSetting *> chain_settings; // For caching.
bool _get(const StringName &p_path, Variant &r_ret) const;
bool _set(const StringName &p_path, const Variant &p_value);
void get_property_list(List<PropertyInfo> *p_list) const;
void _validate_dynamic_prop(PropertyInfo &p_property) const;
static void _bind_methods();
virtual void _validate_bone_names() override;
void _validate_axes(Skeleton3D *p_skeleton) const;
virtual void _validate_axis(Skeleton3D *p_skeleton, int p_index, int p_joint) const;
virtual void _make_all_joints_dirty() override;
virtual void _update_joints(int p_index) override;
void _set_joint_bone(int p_index, int p_joint, int p_bone);
virtual void _process_ik(Skeleton3D *p_skeleton, double p_delta) override;
virtual void _set_joint_count(int p_index, int p_count);
public:
virtual void set_setting_count(int p_count) override {
_set_setting_count<ChainIK3DSetting>(p_count);
chain_settings = _cast_settings<ChainIK3DSetting>();
}
virtual void clear_settings() override {
_set_setting_count<ChainIK3DSetting>(0);
chain_settings.clear();
}
// Setting.
void set_root_bone_name(int p_index, const String &p_bone_name);
String get_root_bone_name(int p_index) const;
void set_root_bone(int p_index, int p_bone);
int get_root_bone(int p_index) const;
void set_end_bone_name(int p_index, const String &p_bone_name);
String get_end_bone_name(int p_index) const;
void set_end_bone(int p_index, int p_bone);
int get_end_bone(int p_index) const;
void set_extend_end_bone(int p_index, bool p_enabled);
bool is_end_bone_extended(int p_index) const;
void set_end_bone_direction(int p_index, BoneDirection p_bone_direction);
BoneDirection get_end_bone_direction(int p_index) const;
void set_end_bone_length(int p_index, float p_length);
float get_end_bone_length(int p_index) const;
// Individual joints.
String get_joint_bone_name(int p_index, int p_joint) const;
int get_joint_bone(int p_index, int p_joint) const;
void set_joint_count(int p_index, int p_count);
int get_joint_count(int p_index) const;
#ifdef TOOLS_ENABLED
// Helper.
static Transform3D get_bone_global_rest_mutable(Skeleton3D *p_skeleton, int p_bone);
Transform3D get_chain_root_global_rest(int p_index);
virtual Vector3 get_bone_vector(int p_index, int p_joint) const;
#endif // TOOLS_ENABLED
~ChainIK3D();
};