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