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0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
209 lines
6.4 KiB
C++
209 lines
6.4 KiB
C++
/*************************************************************************/
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/* skeleton_ik_3d.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef SKELETON_IK_H
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#define SKELETON_IK_H
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#ifndef _3D_DISABLED
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/**
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* @author AndreaCatania
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*/
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#include "core/math/transform.h"
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#include "scene/3d/skeleton_3d.h"
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class FabrikInverseKinematic {
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struct EndEffector {
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BoneId tip_bone;
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Transform goal_transform;
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};
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struct ChainItem {
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Vector<ChainItem> children;
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ChainItem *parent_item = nullptr;
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// Bone info
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BoneId bone = -1;
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PhysicalBone3D *pb = nullptr;
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real_t length = 0;
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/// Positions relative to root bone
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Transform initial_transform;
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Vector3 current_pos;
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// Direction from this bone to child
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Vector3 current_ori;
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ChainItem() {}
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ChainItem *find_child(const BoneId p_bone_id);
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ChainItem *add_child(const BoneId p_bone_id);
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};
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struct ChainTip {
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ChainItem *chain_item = nullptr;
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const EndEffector *end_effector = nullptr;
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ChainTip() {}
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ChainTip(ChainItem *p_chain_item, const EndEffector *p_end_effector) :
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chain_item(p_chain_item),
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end_effector(p_end_effector) {}
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ChainTip(const ChainTip &p_other_ct) :
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chain_item(p_other_ct.chain_item),
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end_effector(p_other_ct.end_effector) {}
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};
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struct Chain {
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ChainItem chain_root;
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ChainItem *middle_chain_item;
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Vector<ChainTip> tips;
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Vector3 magnet_position;
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};
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public:
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struct Task {
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RID self;
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Skeleton3D *skeleton = nullptr;
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Chain chain;
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// Settings
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real_t min_distance = 0.01;
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int max_iterations = 10;
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// Bone data
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BoneId root_bone = -1;
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Vector<EndEffector> end_effectors;
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Transform goal_global_transform;
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Task() {}
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};
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private:
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/// Init a chain that starts from the root to tip
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static bool build_chain(Task *p_task, bool p_force_simple_chain = true);
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static void update_chain(const Skeleton3D *p_sk, ChainItem *p_chain_item);
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static void solve_simple(Task *p_task, bool p_solve_magnet);
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/// Special solvers that solve only chains with one end effector
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static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet);
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static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet);
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public:
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static Task *create_simple_task(Skeleton3D *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform);
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static void free_task(Task *p_task);
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// The goal of chain should be always in local space
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static void set_goal(Task *p_task, const Transform &p_goal);
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static void make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta);
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static void solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position);
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};
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class SkeletonIK3D : public Node {
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GDCLASS(SkeletonIK3D, Node);
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StringName root_bone;
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StringName tip_bone;
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real_t interpolation = 1;
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Transform target;
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NodePath target_node_path_override;
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bool override_tip_basis = true;
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bool use_magnet = false;
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Vector3 magnet_position;
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real_t min_distance = 0.01;
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int max_iterations = 10;
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Skeleton3D *skeleton = nullptr;
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Node3D *target_node_override = nullptr;
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FabrikInverseKinematic::Task *task = nullptr;
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protected:
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virtual void
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_validate_property(PropertyInfo &property) const;
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static void _bind_methods();
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virtual void _notification(int p_what);
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public:
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SkeletonIK3D();
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virtual ~SkeletonIK3D();
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void set_root_bone(const StringName &p_root_bone);
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StringName get_root_bone() const;
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void set_tip_bone(const StringName &p_tip_bone);
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StringName get_tip_bone() const;
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void set_interpolation(real_t p_interpolation);
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real_t get_interpolation() const;
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void set_target_transform(const Transform &p_target);
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const Transform &get_target_transform() const;
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void set_target_node(const NodePath &p_node);
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NodePath get_target_node();
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void set_override_tip_basis(bool p_override);
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bool is_override_tip_basis() const;
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void set_use_magnet(bool p_use);
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bool is_using_magnet() const;
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void set_magnet_position(const Vector3 &p_local_position);
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const Vector3 &get_magnet_position() const;
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void set_min_distance(real_t p_min_distance);
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real_t get_min_distance() const { return min_distance; }
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void set_max_iterations(int p_iterations);
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int get_max_iterations() const { return max_iterations; }
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Skeleton3D *get_parent_skeleton() const { return skeleton; }
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bool is_running();
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void start(bool p_one_time = false);
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void stop();
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private:
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Transform _get_target_transform();
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void reload_chain();
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void reload_goal();
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void _solve_chain();
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};
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#endif // _3D_DISABLED
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#endif // SKELETON_IK_H
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