New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
/*************************************************************************/
/* physical_bone_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
2022-01-04 04:27:34 +08:00
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
/* */
/* 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 */
/* permit persons to whom the Software is furnished to do so, subject to */
/* 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, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
# include "physical_bone_2d.h"
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# include "scene/2d/joint_2d.h"
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
void PhysicalBone2D : : _notification ( int p_what ) {
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switch ( p_what ) {
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS : {
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// Position the RigidDynamicBody in the correct position.
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if ( follow_bone_when_simulating ) {
_position_at_bone2d ( ) ;
}
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
2021-06-18 09:09:40 +08:00
// Keep the child joint in the correct position.
if ( child_joint & & auto_configure_joint ) {
child_joint - > set_global_position ( get_global_position ( ) ) ;
}
} break ;
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
2021-06-18 09:09:40 +08:00
case NOTIFICATION_READY : {
_find_skeleton_parent ( ) ;
_find_joint_child ( ) ;
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
2021-06-18 09:09:40 +08:00
// Configure joint.
if ( child_joint & & auto_configure_joint ) {
_auto_configure_joint ( ) ;
}
// Simulate physics if set.
if ( simulate_physics ) {
_start_physics_simulation ( ) ;
} else {
_stop_physics_simulation ( ) ;
}
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
2021-06-18 09:09:40 +08:00
set_physics_process_internal ( true ) ;
} break ;
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
}
}
void PhysicalBone2D : : _position_at_bone2d ( ) {
// Reset to Bone2D position
if ( parent_skeleton ) {
Bone2D * bone_to_use = parent_skeleton - > get_bone ( bone2d_index ) ;
ERR_FAIL_COND_MSG ( bone_to_use = = nullptr , " It's not possible to position the bone with ID: " + itos ( bone2d_index ) ) ;
set_global_transform ( bone_to_use - > get_global_transform ( ) ) ;
}
}
void PhysicalBone2D : : _find_skeleton_parent ( ) {
Node * current_parent = get_parent ( ) ;
while ( current_parent ! = nullptr ) {
Skeleton2D * potential_skeleton = Object : : cast_to < Skeleton2D > ( current_parent ) ;
if ( potential_skeleton ) {
parent_skeleton = potential_skeleton ;
break ;
} else {
PhysicalBone2D * potential_parent_bone = Object : : cast_to < PhysicalBone2D > ( current_parent ) ;
if ( potential_parent_bone ) {
current_parent = potential_parent_bone - > get_parent ( ) ;
} else {
current_parent = nullptr ;
}
}
}
}
void PhysicalBone2D : : _find_joint_child ( ) {
for ( int i = 0 ; i < get_child_count ( ) ; i + + ) {
Node * child_node = get_child ( i ) ;
Joint2D * potential_joint = Object : : cast_to < Joint2D > ( child_node ) ;
if ( potential_joint ) {
child_joint = potential_joint ;
break ;
}
}
}
TypedArray < String > PhysicalBone2D : : get_configuration_warnings ( ) const {
TypedArray < String > warnings = Node : : get_configuration_warnings ( ) ;
if ( ! parent_skeleton ) {
warnings . push_back ( TTR ( " A PhysicalBone2D only works with a Skeleton2D or another PhysicalBone2D as a parent node! " ) ) ;
}
if ( parent_skeleton & & bone2d_index < = - 1 ) {
warnings . push_back ( TTR ( " A PhysicalBone2D needs to be assigned to a Bone2D node in order to function! Please set a Bone2D node in the inspector. " ) ) ;
}
if ( ! child_joint ) {
PhysicalBone2D * parent_bone = Object : : cast_to < PhysicalBone2D > ( get_parent ( ) ) ;
if ( parent_bone ) {
warnings . push_back ( TTR ( " A PhysicalBone2D node should have a Joint2D-based child node to keep bones connected! Please add a Joint2D-based node as a child to this node! " ) ) ;
}
}
return warnings ;
}
void PhysicalBone2D : : _auto_configure_joint ( ) {
if ( ! auto_configure_joint ) {
return ;
}
if ( child_joint ) {
// Node A = parent | Node B = this node
Node * parent_node = get_parent ( ) ;
PhysicalBone2D * potential_parent_bone = Object : : cast_to < PhysicalBone2D > ( parent_node ) ;
if ( potential_parent_bone ) {
child_joint - > set_node_a ( child_joint - > get_path_to ( potential_parent_bone ) ) ;
child_joint - > set_node_b ( child_joint - > get_path_to ( this ) ) ;
} else {
WARN_PRINT ( " Cannot setup joint without a parent PhysicalBone2D node. " ) ;
}
// Place the child joint at this node's position.
child_joint - > set_global_position ( get_global_position ( ) ) ;
}
}
void PhysicalBone2D : : _start_physics_simulation ( ) {
if ( _internal_simulate_physics ) {
return ;
}
2021-09-17 03:37:24 +08:00
// Reset to Bone2D position.
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
_position_at_bone2d ( ) ;
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// Apply the layers and masks.
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
PhysicsServer2D : : get_singleton ( ) - > body_set_collision_layer ( get_rid ( ) , get_collision_layer ( ) ) ;
PhysicsServer2D : : get_singleton ( ) - > body_set_collision_mask ( get_rid ( ) , get_collision_mask ( ) ) ;
2021-09-17 03:37:24 +08:00
// Apply the correct mode.
_apply_body_mode ( ) ;
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
_internal_simulate_physics = true ;
set_physics_process_internal ( true ) ;
}
void PhysicalBone2D : : _stop_physics_simulation ( ) {
if ( _internal_simulate_physics ) {
_internal_simulate_physics = false ;
// Reset to Bone2D position
_position_at_bone2d ( ) ;
set_physics_process_internal ( false ) ;
PhysicsServer2D : : get_singleton ( ) - > body_set_collision_layer ( get_rid ( ) , 0 ) ;
PhysicsServer2D : : get_singleton ( ) - > body_set_collision_mask ( get_rid ( ) , 0 ) ;
PhysicsServer2D : : get_singleton ( ) - > body_set_mode ( get_rid ( ) , PhysicsServer2D : : BodyMode : : BODY_MODE_STATIC ) ;
}
}
Joint2D * PhysicalBone2D : : get_joint ( ) const {
return child_joint ;
}
bool PhysicalBone2D : : get_auto_configure_joint ( ) const {
return auto_configure_joint ;
}
void PhysicalBone2D : : set_auto_configure_joint ( bool p_auto_configure ) {
auto_configure_joint = p_auto_configure ;
_auto_configure_joint ( ) ;
}
void PhysicalBone2D : : set_simulate_physics ( bool p_simulate ) {
if ( p_simulate = = simulate_physics ) {
return ;
}
simulate_physics = p_simulate ;
if ( simulate_physics ) {
_start_physics_simulation ( ) ;
} else {
_stop_physics_simulation ( ) ;
}
}
bool PhysicalBone2D : : get_simulate_physics ( ) const {
return simulate_physics ;
}
bool PhysicalBone2D : : is_simulating_physics ( ) const {
return _internal_simulate_physics ;
}
void PhysicalBone2D : : set_bone2d_nodepath ( const NodePath & p_nodepath ) {
bone2d_nodepath = p_nodepath ;
notify_property_list_changed ( ) ;
}
NodePath PhysicalBone2D : : get_bone2d_nodepath ( ) const {
return bone2d_nodepath ;
}
void PhysicalBone2D : : set_bone2d_index ( int p_bone_idx ) {
ERR_FAIL_COND_MSG ( p_bone_idx < 0 , " Bone index is out of range: The index is too low! " ) ;
if ( ! is_inside_tree ( ) ) {
bone2d_index = p_bone_idx ;
return ;
}
if ( parent_skeleton ) {
ERR_FAIL_INDEX_MSG ( p_bone_idx , parent_skeleton - > get_bone_count ( ) , " Passed-in Bone index is out of range! " ) ;
bone2d_index = p_bone_idx ;
bone2d_nodepath = get_path_to ( parent_skeleton - > get_bone ( bone2d_index ) ) ;
} else {
WARN_PRINT ( " Cannot verify bone index... " ) ;
bone2d_index = p_bone_idx ;
}
notify_property_list_changed ( ) ;
}
int PhysicalBone2D : : get_bone2d_index ( ) const {
return bone2d_index ;
}
void PhysicalBone2D : : set_follow_bone_when_simulating ( bool p_follow_bone ) {
follow_bone_when_simulating = p_follow_bone ;
if ( _internal_simulate_physics ) {
_stop_physics_simulation ( ) ;
_start_physics_simulation ( ) ;
}
}
bool PhysicalBone2D : : get_follow_bone_when_simulating ( ) const {
return follow_bone_when_simulating ;
}
void PhysicalBone2D : : _bind_methods ( ) {
ClassDB : : bind_method ( D_METHOD ( " get_joint " ) , & PhysicalBone2D : : get_joint ) ;
ClassDB : : bind_method ( D_METHOD ( " get_auto_configure_joint " ) , & PhysicalBone2D : : get_auto_configure_joint ) ;
ClassDB : : bind_method ( D_METHOD ( " set_auto_configure_joint " , " auto_configure_joint " ) , & PhysicalBone2D : : set_auto_configure_joint ) ;
ClassDB : : bind_method ( D_METHOD ( " set_simulate_physics " , " simulate_physics " ) , & PhysicalBone2D : : set_simulate_physics ) ;
ClassDB : : bind_method ( D_METHOD ( " get_simulate_physics " ) , & PhysicalBone2D : : get_simulate_physics ) ;
ClassDB : : bind_method ( D_METHOD ( " is_simulating_physics " ) , & PhysicalBone2D : : is_simulating_physics ) ;
ClassDB : : bind_method ( D_METHOD ( " set_bone2d_nodepath " , " nodepath " ) , & PhysicalBone2D : : set_bone2d_nodepath ) ;
ClassDB : : bind_method ( D_METHOD ( " get_bone2d_nodepath " ) , & PhysicalBone2D : : get_bone2d_nodepath ) ;
ClassDB : : bind_method ( D_METHOD ( " set_bone2d_index " , " bone_index " ) , & PhysicalBone2D : : set_bone2d_index ) ;
ClassDB : : bind_method ( D_METHOD ( " get_bone2d_index " ) , & PhysicalBone2D : : get_bone2d_index ) ;
ClassDB : : bind_method ( D_METHOD ( " set_follow_bone_when_simulating " , " follow_bone " ) , & PhysicalBone2D : : set_follow_bone_when_simulating ) ;
ClassDB : : bind_method ( D_METHOD ( " get_follow_bone_when_simulating " ) , & PhysicalBone2D : : get_follow_bone_when_simulating ) ;
ADD_PROPERTY ( PropertyInfo ( Variant : : NODE_PATH , " bone2d_nodepath " , PROPERTY_HINT_NODE_PATH_VALID_TYPES , " Bone2D " ) , " set_bone2d_nodepath " , " get_bone2d_nodepath " ) ;
ADD_PROPERTY ( PropertyInfo ( Variant : : INT , " bone2d_index " , PROPERTY_HINT_RANGE , " -1, 1000, 1 " ) , " set_bone2d_index " , " get_bone2d_index " ) ;
ADD_PROPERTY ( PropertyInfo ( Variant : : BOOL , " auto_configure_joint " ) , " set_auto_configure_joint " , " get_auto_configure_joint " ) ;
ADD_PROPERTY ( PropertyInfo ( Variant : : BOOL , " simulate_physics " ) , " set_simulate_physics " , " get_simulate_physics " ) ;
ADD_PROPERTY ( PropertyInfo ( Variant : : BOOL , " follow_bone_when_simulating " ) , " set_follow_bone_when_simulating " , " get_follow_bone_when_simulating " ) ;
}
PhysicalBone2D : : PhysicalBone2D ( ) {
2021-09-15 02:44:30 +08:00
// Stop the RigidDynamicBody from executing its force integration.
New and improved IK system for Skeleton2D
This PR and commit adds a new IK system for 2D with the Skeleton2D node
that adds several new IK solvers, a way to control bones in a Skeleton2D
node similar to that in Skeleton3D. It also adds additional changes
and functionality.
This work was sponsored by GSoC 2020 and TwistedTwigleg.
Full list of changes:
* Adds a SkeletonModifier2D resource
* This resource is the base where all IK code is written and executed
* Has a function for clamping angles, since it is so commonly used
* Modifiers are unique when duplicated so it works with instancing
* Adds a SkeletonModifierStack2D resource
* This resource manages a series of SkeletonModification2Ds
* This is what the Skeleton2D directly interfaces with to make IK possible
* Adds SkeletonModifier2D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
* Each modification is in its own file
* There is also a SkeletonModifier2D resource that acts as a stack for using multiple stacks together
* Adds a PhysicalBone2D node
* Works similar to the PhysicalBone3D node, but uses a RigidBody2D node
* Changes to Skeleton2D listed below:
* Skeleton2D now holds a single SkeletonModificationStack2D for IK
* Skeleton2D now has a local_pose_override, which overrides the Bone2D position similar to how the overrides work in Skeleton3D
* Changes to Bone2D listed below:
* The default_length property has been changed to length. Length is the length of the bone to its child bone node
* New bone_angle property, which is the angle the bone has to its first child bone node
* Bone2D caches its transform when not modified by IK for IK interpolation purposes
* Bone2D draws its own editor gizmo, though this is stated to change in the future
* Changes to CanvasItemEditor listed below:
* Bone2D gizmo drawing code removed
* The 2D IK code is removed. Now Bone2D is the only bone system for 2D
* Transform2D now has a looking_at function for rotating to face a position
* Two new node notifications: NOTIFICATION_EDITOR_PRE_SAVE and NOTIFICATION_EDITOR_POST_SAVE
* These notifications only are called in the editor right before and after saving a scene
* Needed for not saving the IK position when executing IK in the editor
* Documentation for all the changes listed above.
2020-08-04 02:02:24 +08:00
PhysicsServer2D : : get_singleton ( ) - > body_set_collision_layer ( get_rid ( ) , 0 ) ;
PhysicsServer2D : : get_singleton ( ) - > body_set_collision_mask ( get_rid ( ) , 0 ) ;
PhysicsServer2D : : get_singleton ( ) - > body_set_mode ( get_rid ( ) , PhysicsServer2D : : BodyMode : : BODY_MODE_STATIC ) ;
child_joint = nullptr ;
}
PhysicalBone2D : : ~ PhysicalBone2D ( ) {
}