mirror/godot
2
0
Fork 0
mirror of https://github.com/godotengine/godot.git synced 2024-11-27 09:16:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
07707a3627
godot/scene/3d/skeleton_3d.cpp
PouleyKetchoupp 91fdf7c15b Fix Skeleton3D regression when bones are not sorted from root to leaves 
Tentative fix for missing bones when bones are not sorted as expected.
For example, if the root comes last, all child bones are removed and
the skeleton ends up with just the root.
2021-08-17 08:31:38 -07:00

1229 lines
40 KiB
C++
Raw Blame History

/*************************************************************************/
/* skeleton_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "skeleton_3d.h"
#include "core/object/message_queue.h"
#include "core/variant/type_info.h"
#include "scene/3d/physics_body_3d.h"
#include "scene/resources/skeleton_modification_3d.h"
#include "scene/resources/surface_tool.h"
#include "scene/scene_string_names.h"
void SkinReference::_skin_changed() {
if (skeleton_node) {
skeleton_node->_make_dirty();
}
skeleton_version = 0;
}
void SkinReference::_bind_methods() {
ClassDB::bind_method(D_METHOD("_skin_changed"), &SkinReference::_skin_changed);
ClassDB::bind_method(D_METHOD("get_skeleton"), &SkinReference::get_skeleton);
ClassDB::bind_method(D_METHOD("get_skin"), &SkinReference::get_skin);
}
RID SkinReference::get_skeleton() const {
return skeleton;
}
Ref<Skin> SkinReference::get_skin() const {
return skin;
}
SkinReference::~SkinReference() {
if (skeleton_node) {
skeleton_node->skin_bindings.erase(this);
}
RS::get_singleton()->free(skeleton);
}
///////////////////////////////////////
bool Skeleton3D::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
#ifndef _3D_DISABLED
if (path.begins_with("modification_stack")) {
set_modification_stack(p_value);
return true;
}
#endif //_3D_DISABLED
if (!path.begins_with("bones/")) {
return false;
}
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
if (which == bones.size() && what == "name") {
add_bone(p_value);
return true;
}
ERR_FAIL_INDEX_V(which, bones.size(), false);
if (what == "parent") {
set_bone_parent(which, p_value);
} else if (what == "rest") {
set_bone_rest(which, p_value);
} else if (what == "enabled") {
set_bone_enabled(which, p_value);
} else if (what == "pose") {
set_bone_pose(which, p_value);
} else {
return false;
}
return true;
}
bool Skeleton3D::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
#ifndef _3D_DISABLED
if (path.begins_with("modification_stack")) {
r_ret = modification_stack;
return true;
}
#endif //_3D_DISABLED
if (!path.begins_with("bones/")) {
return false;
}
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, bones.size(), false);
if (what == "name") {
r_ret = get_bone_name(which);
} else if (what == "parent") {
r_ret = get_bone_parent(which);
} else if (what == "rest") {
r_ret = get_bone_rest(which);
} else if (what == "enabled") {
r_ret = is_bone_enabled(which);
} else if (what == "pose") {
r_ret = get_bone_pose(which);
} else {
return false;
}
return true;
}
void Skeleton3D::_get_property_list(List<PropertyInfo> *p_list) const {
for (int i = 0; i < bones.size(); i++) {
String prep = "bones/" + itos(i) + "/";
p_list->push_back(PropertyInfo(Variant::STRING, prep + "name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR));
p_list->push_back(PropertyInfo(Variant::INT, prep + "parent", PROPERTY_HINT_RANGE, "-1," + itos(bones.size() - 1) + ",1", PROPERTY_USAGE_NOEDITOR));
p_list->push_back(PropertyInfo(Variant::TRANSFORM3D, prep + "rest", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR));
p_list->push_back(PropertyInfo(Variant::BOOL, prep + "enabled", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR));
p_list->push_back(PropertyInfo(Variant::TRANSFORM3D, prep + "pose", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR));
}
#ifndef _3D_DISABLED
p_list->push_back(
PropertyInfo(Variant::OBJECT, "modification_stack",
PROPERTY_HINT_RESOURCE_TYPE,
"SkeletonModificationStack3D",
PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_DEFERRED_SET_RESOURCE | PROPERTY_USAGE_DO_NOT_SHARE_ON_DUPLICATE));
#endif //_3D_DISABLED
}
void Skeleton3D::_update_process_order() {
if (!process_order_dirty) {
return;
}
Bone *bonesptr = bones.ptrw();
int len = bones.size();
parentless_bones.clear();
for (int i = 0; i < len; i++) {
bonesptr[i].child_bones.clear();
}
for (int i = 0; i < len; i++) {
if (bonesptr[i].parent >= len) {
//validate this just in case
ERR_PRINT("Bone " + itos(i) + " has invalid parent: " + itos(bonesptr[i].parent));
bonesptr[i].parent = -1;
}
if (bonesptr[i].parent != -1) {
int parent_bone_idx = bonesptr[i].parent;
// Check to see if this node is already added to the parent:
if (bonesptr[parent_bone_idx].child_bones.find(i) < 0) {
// Add the child node
bonesptr[parent_bone_idx].child_bones.push_back(i);
} else {
ERR_PRINT("Skeleton3D parenthood graph is cyclic");
}
} else {
parentless_bones.push_back(i);
}
}
process_order_dirty = false;
}
void Skeleton3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_UPDATE_SKELETON: {
RenderingServer *rs = RenderingServer::get_singleton();
Bone *bonesptr = bones.ptrw();
int len = bones.size();
dirty = false;
// Update bone transforms
force_update_all_bone_transforms();
//update skins
for (Set<SkinReference *>::Element *E = skin_bindings.front(); E; E = E->next()) {
const Skin *skin = E->get()->skin.operator->();
RID skeleton = E->get()->skeleton;
uint32_t bind_count = skin->get_bind_count();
if (E->get()->bind_count != bind_count) {
RS::get_singleton()->skeleton_allocate_data(skeleton, bind_count);
E->get()->bind_count = bind_count;
E->get()->skin_bone_indices.resize(bind_count);
E->get()->skin_bone_indices_ptrs = E->get()->skin_bone_indices.ptrw();
}
if (E->get()->skeleton_version != version) {
for (uint32_t i = 0; i < bind_count; i++) {
StringName bind_name = skin->get_bind_name(i);
if (bind_name != StringName()) {
//bind name used, use this
bool found = false;
for (int j = 0; j < len; j++) {
if (bonesptr[j].name == bind_name) {
E->get()->skin_bone_indices_ptrs[i] = j;
found = true;
break;
}
}
if (!found) {
ERR_PRINT("Skin bind #" + itos(i) + " contains named bind '" + String(bind_name) + "' but Skeleton3D has no bone by that name.");
E->get()->skin_bone_indices_ptrs[i] = 0;
}
} else if (skin->get_bind_bone(i) >= 0) {
int bind_index = skin->get_bind_bone(i);
if (bind_index >= len) {
ERR_PRINT("Skin bind #" + itos(i) + " contains bone index bind: " + itos(bind_index) + " , which is greater than the skeleton bone count: " + itos(len) + ".");
E->get()->skin_bone_indices_ptrs[i] = 0;
} else {
E->get()->skin_bone_indices_ptrs[i] = bind_index;
}
} else {
ERR_PRINT("Skin bind #" + itos(i) + " does not contain a name nor a bone index.");
E->get()->skin_bone_indices_ptrs[i] = 0;
}
}
E->get()->skeleton_version = version;
}
for (uint32_t i = 0; i < bind_count; i++) {
uint32_t bone_index = E->get()->skin_bone_indices_ptrs[i];
ERR_CONTINUE(bone_index >= (uint32_t)len);
rs->skeleton_bone_set_transform(skeleton, i, bonesptr[bone_index].pose_global * skin->get_bind_pose(i));
}
}
#ifdef TOOLS_ENABLED
emit_signal(SceneStringNames::get_singleton()->pose_updated);
#endif // TOOLS_ENABLED
} break;
#ifndef _3D_DISABLED
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
// This is active only if the skeleton animates the physical bones
// and the state of the bone is not active.
if (Engine::get_singleton()->is_editor_hint()) {
if (animate_physical_bones) {
for (int i = 0; i < bones.size(); i += 1) {
if (bones[i].physical_bone) {
if (bones[i].physical_bone->is_simulating_physics() == false) {
bones[i].physical_bone->reset_to_rest_position();
}
}
}
}
}
if (modification_stack.is_valid()) {
execute_modifications(get_physics_process_delta_time(), SkeletonModificationStack3D::EXECUTION_MODE::execution_mode_physics_process);
}
} break;
#endif // _3D_DISABLED
#ifndef _3D_DISABLED
case NOTIFICATION_INTERNAL_PROCESS: {
if (modification_stack.is_valid()) {
execute_modifications(get_process_delta_time(), SkeletonModificationStack3D::EXECUTION_MODE::execution_mode_process);
}
} break;
#endif // _3D_DISABLED
#ifndef _3D_DISABLED
case NOTIFICATION_READY: {
set_physics_process_internal(true);
set_process_internal(true);
if (modification_stack.is_valid()) {
set_modification_stack(modification_stack);
}
} break;
#endif // _3D_DISABLED
}
}
void Skeleton3D::clear_bones_global_pose_override() {
for (int i = 0; i < bones.size(); i += 1) {
bones.write[i].global_pose_override_amount = 0;
bones.write[i].global_pose_override_reset = true;
}
_make_dirty();
}
void Skeleton3D::set_bone_global_pose_override(int p_bone, const Transform3D &p_pose, real_t p_amount, bool p_persistent) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].global_pose_override_amount = p_amount;
bones.write[p_bone].global_pose_override = p_pose;
bones.write[p_bone].global_pose_override_reset = !p_persistent;
_make_dirty();
}
Transform3D Skeleton3D::get_bone_global_pose_override(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].global_pose_override;
}
Transform3D Skeleton3D::get_bone_global_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
if (dirty) {
const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
}
return bones[p_bone].pose_global;
}
Transform3D Skeleton3D::get_bone_global_pose_no_override(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
if (dirty) {
const_cast<Skeleton3D *>(this)->notification(NOTIFICATION_UPDATE_SKELETON);
}
return bones[p_bone].pose_global_no_override;
}
void Skeleton3D::clear_bones_local_pose_override() {
for (int i = 0; i < bones.size(); i += 1) {
bones.write[i].local_pose_override_amount = 0;
}
_make_dirty();
}
void Skeleton3D::set_bone_local_pose_override(int p_bone, const Transform3D &p_pose, real_t p_amount, bool p_persistent) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].local_pose_override_amount = p_amount;
bones.write[p_bone].local_pose_override = p_pose;
bones.write[p_bone].local_pose_override_reset = !p_persistent;
_make_dirty();
}
Transform3D Skeleton3D::get_bone_local_pose_override(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].local_pose_override;
}
void Skeleton3D::update_bone_rest_forward_vector(int p_bone, bool p_force_update) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
if (bones[p_bone].rest_bone_forward_vector.length_squared() > 0 && p_force_update == false) {
update_bone_rest_forward_axis(p_bone, p_force_update);
}
// If it is a child/leaf bone...
if (get_bone_parent(p_bone) > 0) {
bones.write[p_bone].rest_bone_forward_vector = bones[p_bone].rest.origin.normalized();
} else {
// If it has children...
Vector<int> child_bones = get_bone_children(p_bone);
if (child_bones.size() > 0) {
Vector3 combined_child_dir = Vector3(0, 0, 0);
for (int i = 0; i < child_bones.size(); i++) {
combined_child_dir += bones[child_bones[i]].rest.origin.normalized();
}
combined_child_dir = combined_child_dir / child_bones.size();
bones.write[p_bone].rest_bone_forward_vector = combined_child_dir.normalized();
} else {
WARN_PRINT_ONCE("Cannot calculate forward direction for bone " + itos(p_bone));
WARN_PRINT_ONCE("Assuming direction of (0, 1, 0) for bone");
bones.write[p_bone].rest_bone_forward_vector = Vector3(0, 1, 0);
}
}
update_bone_rest_forward_axis(p_bone, p_force_update);
}
void Skeleton3D::update_bone_rest_forward_axis(int p_bone, bool p_force_update) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
if (bones[p_bone].rest_bone_forward_axis > -1 && p_force_update == false) {
return;
}
Vector3 forward_axis_absolute = bones[p_bone].rest_bone_forward_vector.abs();
if (forward_axis_absolute.x > forward_axis_absolute.y && forward_axis_absolute.x > forward_axis_absolute.z) {
if (bones[p_bone].rest_bone_forward_vector.x > 0) {
bones.write[p_bone].rest_bone_forward_axis = BONE_AXIS_X_FORWARD;
} else {
bones.write[p_bone].rest_bone_forward_axis = BONE_AXIS_NEGATIVE_X_FORWARD;
}
} else if (forward_axis_absolute.y > forward_axis_absolute.x && forward_axis_absolute.y > forward_axis_absolute.z) {
if (bones[p_bone].rest_bone_forward_vector.y > 0) {
bones.write[p_bone].rest_bone_forward_axis = BONE_AXIS_Y_FORWARD;
} else {
bones.write[p_bone].rest_bone_forward_axis = BONE_AXIS_NEGATIVE_Y_FORWARD;
}
} else {
if (bones[p_bone].rest_bone_forward_vector.z > 0) {
bones.write[p_bone].rest_bone_forward_axis = BONE_AXIS_Z_FORWARD;
} else {
bones.write[p_bone].rest_bone_forward_axis = BONE_AXIS_NEGATIVE_Z_FORWARD;
}
}
}
Vector3 Skeleton3D::get_bone_axis_forward_vector(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Vector3(0, 0, 0));
return bones[p_bone].rest_bone_forward_vector;
}
int Skeleton3D::get_bone_axis_forward_enum(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, -1);
return bones[p_bone].rest_bone_forward_axis;
}
// skeleton creation api
void Skeleton3D::add_bone(const String &p_name) {
ERR_FAIL_COND(p_name == "" || p_name.find(":") != -1 || p_name.find("/") != -1);
for (int i = 0; i < bones.size(); i++) {
ERR_FAIL_COND(bones[i].name == p_name);
}
Bone b;
b.name = p_name;
bones.push_back(b);
process_order_dirty = true;
version++;
_make_dirty();
update_gizmos();
}
int Skeleton3D::find_bone(const String &p_name) const {
for (int i = 0; i < bones.size(); i++) {
if (bones[i].name == p_name) {
return i;
}
}
return -1;
}
String Skeleton3D::get_bone_name(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, "");
return bones[p_bone].name;
}
void Skeleton3D::set_bone_name(int p_bone, const String &p_name) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
for (int i = 0; i < bone_size; i++) {
if (i != p_bone) {
ERR_FAIL_COND(bones[i].name == p_name);
}
}
bones.write[p_bone].name = p_name;
}
bool Skeleton3D::is_bone_parent_of(int p_bone, int p_parent_bone_id) const {
int parent_of_bone = get_bone_parent(p_bone);
if (-1 == parent_of_bone) {
return false;
}
if (parent_of_bone == p_parent_bone_id) {
return true;
}
return is_bone_parent_of(parent_of_bone, p_parent_bone_id);
}
int Skeleton3D::get_bone_count() const {
return bones.size();
}
void Skeleton3D::set_bone_parent(int p_bone, int p_parent) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
ERR_FAIL_COND(p_parent != -1 && (p_parent < 0));
bones.write[p_bone].parent = p_parent;
process_order_dirty = true;
_make_dirty();
}
void Skeleton3D::unparent_bone_and_rest(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
_update_process_order();
int parent = bones[p_bone].parent;
while (parent >= 0) {
bones.write[p_bone].rest = bones[parent].rest * bones[p_bone].rest;
parent = bones[parent].parent;
}
bones.write[p_bone].parent = -1;
process_order_dirty = true;
_make_dirty();
}
void Skeleton3D::set_bone_disable_rest(int p_bone, bool p_disable) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].disable_rest = p_disable;
}
bool Skeleton3D::is_bone_rest_disabled(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, false);
return bones[p_bone].disable_rest;
}
int Skeleton3D::get_bone_parent(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, -1);
return bones[p_bone].parent;
}
Vector<int> Skeleton3D::get_bone_children(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Vector<int>());
return bones[p_bone].child_bones;
}
void Skeleton3D::set_bone_children(int p_bone, Vector<int> p_children) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].child_bones = p_children;
process_order_dirty = true;
_make_dirty();
}
void Skeleton3D::add_bone_child(int p_bone, int p_child) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].child_bones.push_back(p_child);
process_order_dirty = true;
_make_dirty();
}
void Skeleton3D::remove_bone_child(int p_bone, int p_child) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
int child_idx = bones[p_bone].child_bones.find(p_child);
if (child_idx >= 0) {
bones.write[p_bone].child_bones.remove(child_idx);
} else {
WARN_PRINT("Cannot remove child bone: Child bone not found.");
}
process_order_dirty = true;
_make_dirty();
}
Vector<int> Skeleton3D::get_parentless_bones() {
return parentless_bones;
}
void Skeleton3D::set_bone_rest(int p_bone, const Transform3D &p_rest) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].rest = p_rest;
_make_dirty();
}
Transform3D Skeleton3D::get_bone_rest(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].rest;
}
void Skeleton3D::set_bone_enabled(int p_bone, bool p_enabled) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].enabled = p_enabled;
_make_dirty();
}
bool Skeleton3D::is_bone_enabled(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, false);
return bones[p_bone].enabled;
}
void Skeleton3D::clear_bones() {
bones.clear();
process_order_dirty = true;
version++;
_make_dirty();
}
// posing api
void Skeleton3D::set_bone_pose(int p_bone, const Transform3D &p_pose) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].pose = p_pose;
if (is_inside_tree()) {
_make_dirty();
}
}
Transform3D Skeleton3D::get_bone_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].pose;
}
void Skeleton3D::set_bone_custom_pose(int p_bone, const Transform3D &p_custom_pose) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
//ERR_FAIL_COND( !is_inside_scene() );
bones.write[p_bone].custom_pose_enable = (p_custom_pose != Transform3D());
bones.write[p_bone].custom_pose = p_custom_pose;
_make_dirty();
}
Transform3D Skeleton3D::get_bone_custom_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].custom_pose;
}
void Skeleton3D::_make_dirty() {
if (dirty) {
return;
}
MessageQueue::get_singleton()->push_notification(this, NOTIFICATION_UPDATE_SKELETON);
dirty = true;
}
void Skeleton3D::localize_rests() {
_update_process_order();
Vector<int> bones_to_process = get_parentless_bones();
while (bones_to_process.size() > 0) {
int current_bone_idx = bones_to_process[0];
bones_to_process.erase(current_bone_idx);
if (bones[current_bone_idx].parent >= 0) {
set_bone_rest(current_bone_idx, bones[bones[current_bone_idx].parent].rest.affine_inverse() * bones[current_bone_idx].rest);
}
// Add the bone's children to the list of bones to be processed
int child_bone_size = bones[current_bone_idx].child_bones.size();
for (int i = 0; i < child_bone_size; i++) {
bones_to_process.push_back(bones[current_bone_idx].child_bones[i]);
}
}
}
void Skeleton3D::set_animate_physical_bones(bool p_animate) {
animate_physical_bones = p_animate;
if (Engine::get_singleton()->is_editor_hint() == false) {
bool sim = false;
for (int i = 0; i < bones.size(); i += 1) {
if (bones[i].physical_bone) {
bones[i].physical_bone->reset_physics_simulation_state();
if (bones[i].physical_bone->is_simulating_physics()) {
sim = true;
}
}
}
set_physics_process_internal(sim == false && p_animate);
}
}
bool Skeleton3D::get_animate_physical_bones() const {
return animate_physical_bones;
}
void Skeleton3D::bind_physical_bone_to_bone(int p_bone, PhysicalBone3D *p_physical_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
ERR_FAIL_COND(bones[p_bone].physical_bone);
ERR_FAIL_COND(!p_physical_bone);
bones.write[p_bone].physical_bone = p_physical_bone;
_rebuild_physical_bones_cache();
}
void Skeleton3D::unbind_physical_bone_from_bone(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].physical_bone = nullptr;
_rebuild_physical_bones_cache();
}
PhysicalBone3D *Skeleton3D::get_physical_bone(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
return bones[p_bone].physical_bone;
}
PhysicalBone3D *Skeleton3D::get_physical_bone_parent(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
if (bones[p_bone].cache_parent_physical_bone) {
return bones[p_bone].cache_parent_physical_bone;
}
return _get_physical_bone_parent(p_bone);
}
PhysicalBone3D *Skeleton3D::_get_physical_bone_parent(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
const int parent_bone = bones[p_bone].parent;
if (0 > parent_bone) {
return nullptr;
}
PhysicalBone3D *pb = bones[parent_bone].physical_bone;
if (pb) {
return pb;
} else {
return get_physical_bone_parent(parent_bone);
}
}
void Skeleton3D::_rebuild_physical_bones_cache() {
const int b_size = bones.size();
for (int i = 0; i < b_size; ++i) {
PhysicalBone3D *parent_pb = _get_physical_bone_parent(i);
if (parent_pb != bones[i].cache_parent_physical_bone) {
bones.write[i].cache_parent_physical_bone = parent_pb;
if (bones[i].physical_bone) {
bones[i].physical_bone->_on_bone_parent_changed();
}
}
}
}
void _pb_stop_simulation(Node *p_node) {
for (int i = p_node->get_child_count() - 1; 0 <= i; --i) {
_pb_stop_simulation(p_node->get_child(i));
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
pb->set_simulate_physics(false);
}
}
void Skeleton3D::physical_bones_stop_simulation() {
_pb_stop_simulation(this);
if (Engine::get_singleton()->is_editor_hint() == false && animate_physical_bones) {
set_physics_process_internal(true);
}
}
void _pb_start_simulation(const Skeleton3D *p_skeleton, Node *p_node, const Vector<int> &p_sim_bones) {
for (int i = p_node->get_child_count() - 1; 0 <= i; --i) {
_pb_start_simulation(p_skeleton, p_node->get_child(i), p_sim_bones);
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
for (int i = p_sim_bones.size() - 1; 0 <= i; --i) {
if (p_sim_bones[i] == pb->get_bone_id() || p_skeleton->is_bone_parent_of(pb->get_bone_id(), p_sim_bones[i])) {
pb->set_simulate_physics(true);
break;
}
}
}
}
void Skeleton3D::physical_bones_start_simulation_on(const TypedArray<StringName> &p_bones) {
set_physics_process_internal(false);
Vector<int> sim_bones;
if (p_bones.size() <= 0) {
sim_bones.push_back(0); // if no bones is specified, activate ragdoll on full body
} else {
sim_bones.resize(p_bones.size());
int c = 0;
for (int i = sim_bones.size() - 1; 0 <= i; --i) {
int bone_id = find_bone(p_bones[i]);
if (bone_id != -1) {
sim_bones.write[c++] = bone_id;
}
}
sim_bones.resize(c);
}
_pb_start_simulation(this, this, sim_bones);
}
void _physical_bones_add_remove_collision_exception(bool p_add, Node *p_node, RID p_exception) {
for (int i = p_node->get_child_count() - 1; 0 <= i; --i) {
_physical_bones_add_remove_collision_exception(p_add, p_node->get_child(i), p_exception);
}
CollisionObject3D *co = Object::cast_to<CollisionObject3D>(p_node);
if (co) {
if (p_add) {
PhysicsServer3D::get_singleton()->body_add_collision_exception(co->get_rid(), p_exception);
} else {
PhysicsServer3D::get_singleton()->body_remove_collision_exception(co->get_rid(), p_exception);
}
}
}
void Skeleton3D::physical_bones_add_collision_exception(RID p_exception) {
_physical_bones_add_remove_collision_exception(true, this, p_exception);
}
void Skeleton3D::physical_bones_remove_collision_exception(RID p_exception) {
_physical_bones_add_remove_collision_exception(false, this, p_exception);
}
void Skeleton3D::_skin_changed() {
_make_dirty();
}
Ref<SkinReference> Skeleton3D::register_skin(const Ref<Skin> &p_skin) {
for (Set<SkinReference *>::Element *E = skin_bindings.front(); E; E = E->next()) {
if (E->get()->skin == p_skin) {
return Ref<SkinReference>(E->get());
}
}
Ref<Skin> skin = p_skin;
if (skin.is_null()) {
//need to create one from existing code, this is for compatibility only
//when skeletons did not support skins. It is also used by gizmo
//to display the skeleton.
skin.instantiate();
skin->set_bind_count(bones.size());
_update_process_order(); //just in case
// pose changed, rebuild cache of inverses
const Bone *bonesptr = bones.ptr();
int len = bones.size();
// calculate global rests and invert them
Vector<int> bones_to_process = get_parentless_bones();
while (bones_to_process.size() > 0) {
int current_bone_idx = bones_to_process[0];
bones_to_process.erase(current_bone_idx);
const Bone &b = bonesptr[current_bone_idx];
// Note: the code below may not work by default. May need to track an integer for the bone pose index order
// in the while loop, instead of using current_bone_idx.
if (b.parent >= 0) {
skin->set_bind_pose(current_bone_idx, skin->get_bind_pose(b.parent) * b.rest);
} else {
skin->set_bind_pose(current_bone_idx, b.rest);
}
}
for (int i = 0; i < len; i++) {
//the inverse is what is actually required
skin->set_bind_bone(i, i);
skin->set_bind_pose(i, skin->get_bind_pose(i).affine_inverse());
}
}
ERR_FAIL_COND_V(skin.is_null(), Ref<SkinReference>());
Ref<SkinReference> skin_ref;
skin_ref.instantiate();
skin_ref->skeleton_node = this;
skin_ref->bind_count = 0;
skin_ref->skeleton = RenderingServer::get_singleton()->skeleton_create();
skin_ref->skeleton_node = this;
skin_ref->skin = skin;
skin_bindings.insert(skin_ref.operator->());
skin->connect("changed", Callable(skin_ref.operator->(), "_skin_changed"));
_make_dirty(); //skin needs to be updated, so update skeleton
return skin_ref;
}
void Skeleton3D::force_update_all_bone_transforms() {
_update_process_order();
for (int i = 0; i < parentless_bones.size(); i++) {
force_update_bone_children_transforms(parentless_bones[i]);
}
}
void Skeleton3D::force_update_bone_children_transforms(int p_bone_idx) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone_idx, bone_size);
Bone *bonesptr = bones.ptrw();
List<int> bones_to_process = List<int>();
bones_to_process.push_back(p_bone_idx);
while (bones_to_process.size() > 0) {
int current_bone_idx = bones_to_process[0];
bones_to_process.erase(current_bone_idx);
Bone &b = bonesptr[current_bone_idx];
if (b.disable_rest) {
if (b.enabled) {
Transform3D pose = b.pose;
if (b.custom_pose_enable) {
pose = b.custom_pose * pose;
}
if (b.parent >= 0) {
b.pose_global = bonesptr[b.parent].pose_global * pose;
b.pose_global_no_override = b.pose_global;
} else {
b.pose_global = pose;
b.pose_global_no_override = b.pose_global;
}
} else {
if (b.parent >= 0) {
b.pose_global = bonesptr[b.parent].pose_global;
b.pose_global_no_override = b.pose_global;
} else {
b.pose_global = Transform3D();
b.pose_global_no_override = b.pose_global;
}
}
} else {
if (b.enabled) {
Transform3D pose = b.pose;
if (b.custom_pose_enable) {
pose = b.custom_pose * pose;
}
if (b.parent >= 0) {
b.pose_global = bonesptr[b.parent].pose_global * (b.rest * pose);
b.pose_global_no_override = b.pose_global;
} else {
b.pose_global = b.rest * pose;
b.pose_global_no_override = b.pose_global;
}
} else {
if (b.parent >= 0) {
b.pose_global = bonesptr[b.parent].pose_global * b.rest;
b.pose_global_no_override = b.pose_global;
} else {
b.pose_global = b.rest;
b.pose_global_no_override = b.pose_global;
}
}
}
if (b.local_pose_override_amount >= CMP_EPSILON) {
Transform3D override_local_pose;
if (b.parent >= 0) {
override_local_pose = bonesptr[b.parent].pose_global * (b.rest * b.local_pose_override);
} else {
override_local_pose = (b.rest * b.local_pose_override);
}
b.pose_global = b.pose_global.interpolate_with(override_local_pose, b.local_pose_override_amount);
}
if (b.global_pose_override_amount >= CMP_EPSILON) {
b.pose_global = b.pose_global.interpolate_with(b.global_pose_override, b.global_pose_override_amount);
}
if (b.local_pose_override_reset) {
b.local_pose_override_amount = 0.0;
}
if (b.global_pose_override_reset) {
b.global_pose_override_amount = 0.0;
}
// Add the bone's children to the list of bones to be processed
int child_bone_size = b.child_bones.size();
for (int i = 0; i < child_bone_size; i++) {
bones_to_process.push_back(b.child_bones[i]);
}
emit_signal(SceneStringNames::get_singleton()->bone_pose_changed, current_bone_idx);
}
}
// helper functions
Transform3D Skeleton3D::global_pose_to_world_transform(Transform3D p_global_pose) {
return get_global_transform() * p_global_pose;
}
Transform3D Skeleton3D::world_transform_to_global_pose(Transform3D p_world_transform) {
return get_global_transform().affine_inverse() * p_world_transform;
}
Transform3D Skeleton3D::global_pose_to_local_pose(int p_bone_idx, Transform3D p_global_pose) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone_idx, bone_size, Transform3D());
if (bones[p_bone_idx].parent >= 0) {
int parent_bone_idx = bones[p_bone_idx].parent;
Transform3D conversion_transform = (bones[parent_bone_idx].pose_global * bones[p_bone_idx].rest);
return conversion_transform.affine_inverse() * p_global_pose;
} else {
return p_global_pose;
}
}
Transform3D Skeleton3D::local_pose_to_global_pose(int p_bone_idx, Transform3D p_local_pose) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone_idx, bone_size, Transform3D());
if (bones[p_bone_idx].parent >= 0) {
int parent_bone_idx = bones[p_bone_idx].parent;
Transform3D conversion_transform = (bones[parent_bone_idx].pose_global * bones[p_bone_idx].rest);
return conversion_transform * p_local_pose;
} else {
return p_local_pose;
}
}
Basis Skeleton3D::global_pose_z_forward_to_bone_forward(int p_bone_idx, Basis p_basis) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone_idx, bone_size, Basis());
Basis return_basis = p_basis;
if (bones[p_bone_idx].rest_bone_forward_axis < 0) {
update_bone_rest_forward_vector(p_bone_idx, true);
}
if (bones[p_bone_idx].rest_bone_forward_axis == BONE_AXIS_X_FORWARD) {
return_basis.rotate_local(Vector3(0, 1, 0), (Math_PI / 2.0));
} else if (bones[p_bone_idx].rest_bone_forward_axis == BONE_AXIS_NEGATIVE_X_FORWARD) {
return_basis.rotate_local(Vector3(0, 1, 0), -(Math_PI / 2.0));
} else if (bones[p_bone_idx].rest_bone_forward_axis == BONE_AXIS_Y_FORWARD) {
return_basis.rotate_local(Vector3(1, 0, 0), -(Math_PI / 2.0));
} else if (bones[p_bone_idx].rest_bone_forward_axis == BONE_AXIS_NEGATIVE_Y_FORWARD) {
return_basis.rotate_local(Vector3(1, 0, 0), (Math_PI / 2.0));
} else if (bones[p_bone_idx].rest_bone_forward_axis == BONE_AXIS_Z_FORWARD) {
// Do nothing!
} else if (bones[p_bone_idx].rest_bone_forward_axis == BONE_AXIS_NEGATIVE_Z_FORWARD) {
return_basis.rotate_local(Vector3(0, 0, 1), Math_PI);
}
return return_basis;
}
// Modifications
#ifndef _3D_DISABLED
void Skeleton3D::set_modification_stack(Ref<SkeletonModificationStack3D> p_stack) {
if (modification_stack.is_valid()) {
modification_stack->is_setup = false;
modification_stack->set_skeleton(nullptr);
}
modification_stack = p_stack;
if (modification_stack.is_valid()) {
modification_stack->set_skeleton(this);
modification_stack->setup();
}
}
Ref<SkeletonModificationStack3D> Skeleton3D::get_modification_stack() {
return modification_stack;
}
void Skeleton3D::execute_modifications(real_t p_delta, int p_execution_mode) {
if (!modification_stack.is_valid()) {
return;
}
// Needed to avoid the issue where the stack looses reference to the skeleton when the scene is saved.
if (modification_stack->skeleton != this) {
modification_stack->set_skeleton(this);
}
modification_stack->execute(p_delta, p_execution_mode);
}
#endif // _3D_DISABLED
void Skeleton3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("add_bone", "name"), &Skeleton3D::add_bone);
ClassDB::bind_method(D_METHOD("find_bone", "name"), &Skeleton3D::find_bone);
ClassDB::bind_method(D_METHOD("get_bone_name", "bone_idx"), &Skeleton3D::get_bone_name);
ClassDB::bind_method(D_METHOD("set_bone_name", "bone_idx", "name"), &Skeleton3D::set_bone_name);
ClassDB::bind_method(D_METHOD("get_bone_parent", "bone_idx"), &Skeleton3D::get_bone_parent);
ClassDB::bind_method(D_METHOD("set_bone_parent", "bone_idx", "parent_idx"), &Skeleton3D::set_bone_parent);
ClassDB::bind_method(D_METHOD("get_bone_count"), &Skeleton3D::get_bone_count);
ClassDB::bind_method(D_METHOD("unparent_bone_and_rest", "bone_idx"), &Skeleton3D::unparent_bone_and_rest);
ClassDB::bind_method(D_METHOD("get_bone_children", "bone_idx"), &Skeleton3D::get_bone_children);
ClassDB::bind_method(D_METHOD("set_bone_children", "bone_idx", "bone_children"), &Skeleton3D::set_bone_children);
ClassDB::bind_method(D_METHOD("add_bone_child", "bone_idx", "child_bone_idx"), &Skeleton3D::add_bone_child);
ClassDB::bind_method(D_METHOD("remove_bone_child", "bone_idx", "child_bone_idx"), &Skeleton3D::remove_bone_child);
ClassDB::bind_method(D_METHOD("get_parentless_bones"), &Skeleton3D::get_parentless_bones);
ClassDB::bind_method(D_METHOD("get_bone_rest", "bone_idx"), &Skeleton3D::get_bone_rest);
ClassDB::bind_method(D_METHOD("set_bone_rest", "bone_idx", "rest"), &Skeleton3D::set_bone_rest);
ClassDB::bind_method(D_METHOD("register_skin", "skin"), &Skeleton3D::register_skin);
ClassDB::bind_method(D_METHOD("localize_rests"), &Skeleton3D::localize_rests);
ClassDB::bind_method(D_METHOD("set_bone_disable_rest", "bone_idx", "disable"), &Skeleton3D::set_bone_disable_rest);
ClassDB::bind_method(D_METHOD("is_bone_rest_disabled", "bone_idx"), &Skeleton3D::is_bone_rest_disabled);
ClassDB::bind_method(D_METHOD("clear_bones"), &Skeleton3D::clear_bones);
ClassDB::bind_method(D_METHOD("get_bone_pose", "bone_idx"), &Skeleton3D::get_bone_pose);
ClassDB::bind_method(D_METHOD("set_bone_pose", "bone_idx", "pose"), &Skeleton3D::set_bone_pose);
ClassDB::bind_method(D_METHOD("clear_bones_global_pose_override"), &Skeleton3D::clear_bones_global_pose_override);
ClassDB::bind_method(D_METHOD("set_bone_global_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton3D::set_bone_global_pose_override, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_bone_global_pose_override", "bone_idx"), &Skeleton3D::get_bone_global_pose_override);
ClassDB::bind_method(D_METHOD("get_bone_global_pose", "bone_idx"), &Skeleton3D::get_bone_global_pose);
ClassDB::bind_method(D_METHOD("get_bone_global_pose_no_override", "bone_idx"), &Skeleton3D::get_bone_global_pose_no_override);
ClassDB::bind_method(D_METHOD("clear_bones_local_pose_override"), &Skeleton3D::clear_bones_local_pose_override);
ClassDB::bind_method(D_METHOD("set_bone_local_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton3D::set_bone_local_pose_override, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_bone_local_pose_override", "bone_idx"), &Skeleton3D::get_bone_local_pose_override);
ClassDB::bind_method(D_METHOD("get_bone_custom_pose", "bone_idx"), &Skeleton3D::get_bone_custom_pose);
ClassDB::bind_method(D_METHOD("set_bone_custom_pose", "bone_idx", "custom_pose"), &Skeleton3D::set_bone_custom_pose);
ClassDB::bind_method(D_METHOD("force_update_all_bone_transforms"), &Skeleton3D::force_update_all_bone_transforms);
ClassDB::bind_method(D_METHOD("force_update_bone_child_transform", "bone_idx"), &Skeleton3D::force_update_bone_children_transforms);
// Helper functions
ClassDB::bind_method(D_METHOD("global_pose_to_world_transform", "global_pose"), &Skeleton3D::global_pose_to_world_transform);
ClassDB::bind_method(D_METHOD("world_transform_to_global_pose", "world_transform"), &Skeleton3D::world_transform_to_global_pose);
ClassDB::bind_method(D_METHOD("global_pose_to_local_pose", "bone_idx", "global_pose"), &Skeleton3D::global_pose_to_local_pose);
ClassDB::bind_method(D_METHOD("local_pose_to_global_pose", "bone_idx", "local_pose"), &Skeleton3D::local_pose_to_global_pose);
ClassDB::bind_method(D_METHOD("global_pose_z_forward_to_bone_forward", "bone_idx", "basis"), &Skeleton3D::global_pose_z_forward_to_bone_forward);
ClassDB::bind_method(D_METHOD("set_animate_physical_bones"), &Skeleton3D::set_animate_physical_bones);
ClassDB::bind_method(D_METHOD("get_animate_physical_bones"), &Skeleton3D::get_animate_physical_bones);
ClassDB::bind_method(D_METHOD("physical_bones_stop_simulation"), &Skeleton3D::physical_bones_stop_simulation);
ClassDB::bind_method(D_METHOD("physical_bones_start_simulation", "bones"), &Skeleton3D::physical_bones_start_simulation_on, DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("physical_bones_add_collision_exception", "exception"), &Skeleton3D::physical_bones_add_collision_exception);
ClassDB::bind_method(D_METHOD("physical_bones_remove_collision_exception", "exception"), &Skeleton3D::physical_bones_remove_collision_exception);
// Modifications
ClassDB::bind_method(D_METHOD("set_modification_stack", "modification_stack"), &Skeleton3D::set_modification_stack);
ClassDB::bind_method(D_METHOD("get_modification_stack"), &Skeleton3D::get_modification_stack);
ClassDB::bind_method(D_METHOD("execute_modifications", "delta", "execution_mode"), &Skeleton3D::execute_modifications);
#ifndef _3D_DISABLED
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "animate_physical_bones"), "set_animate_physical_bones", "get_animate_physical_bones");
#endif // _3D_DISABLED
#ifdef TOOLS_ENABLED
ADD_SIGNAL(MethodInfo("pose_updated"));
#endif // TOOLS_ENABLED
ADD_SIGNAL(MethodInfo("bone_pose_changed", PropertyInfo(Variant::INT, "bone_idx")));
BIND_CONSTANT(NOTIFICATION_UPDATE_SKELETON);
}
Skeleton3D::Skeleton3D() {
}
Skeleton3D::~Skeleton3D() {
//some skins may remain bound
for (Set<SkinReference *>::Element *E = skin_bindings.front(); E; E = E->next()) {
E->get()->skeleton_node = nullptr;
}
}
Reference in New Issue View Git Blame Copy Permalink