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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.
109 lines
4.8 KiB
C++
109 lines
4.8 KiB
C++
/*************************************************************************/
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/* skeleton_modification_2d_fabrik.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 SKELETONMODIFICATION2DFABRIK_H
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#define SKELETONMODIFICATION2DFABRIK_H
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#include "scene/2d/skeleton_2d.h"
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#include "scene/resources/skeleton_modification_2d.h"
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///////////////////////////////////////
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// SkeletonModification2DFABRIK
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///////////////////////////////////////
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class SkeletonModification2DFABRIK : public SkeletonModification2D {
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GDCLASS(SkeletonModification2DFABRIK, SkeletonModification2D);
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private:
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struct FABRIK_Joint_Data2D {
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int bone_idx = -1;
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NodePath bone2d_node;
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ObjectID bone2d_node_cache;
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Vector2 magnet_position = Vector2(0, 0);
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bool use_target_rotation = false;
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bool editor_draw_gizmo = true;
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};
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Vector<FABRIK_Joint_Data2D> fabrik_data_chain;
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// Unlike in 3D, we need a vector of Transform2D objects to perform FABRIK.
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// This is because FABRIK (unlike CCDIK) needs to operate on transforms that are NOT
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// affected by each other, making the transforms stored in Bone2D unusable, as well as those in Skeleton2D.
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// For this reason, this modification stores a vector of Transform2Ds used for the calculations, which are then applied at the end.
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Vector<Transform2D> fabrik_transform_chain;
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NodePath target_node;
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ObjectID target_node_cache;
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void update_target_cache();
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float chain_tolarance = 0.01;
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int chain_max_iterations = 10;
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int chain_iterations = 0;
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Transform2D target_global_pose = Transform2D();
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Transform2D origin_global_pose = Transform2D();
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void fabrik_joint_update_bone2d_cache(int p_joint_idx);
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void chain_backwards();
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void chain_forwards();
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protected:
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static void _bind_methods();
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bool _set(const StringName &p_path, const Variant &p_value);
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bool _get(const StringName &p_path, Variant &r_ret) const;
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void _get_property_list(List<PropertyInfo> *p_list) const;
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public:
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void _execute(float p_delta) override;
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void _setup_modification(SkeletonModificationStack2D *p_stack) override;
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void set_target_node(const NodePath &p_target_node);
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NodePath get_target_node() const;
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int get_fabrik_data_chain_length();
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void set_fabrik_data_chain_length(int p_new_length);
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void set_fabrik_joint_bone2d_node(int p_joint_idx, const NodePath &p_target_node);
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NodePath get_fabrik_joint_bone2d_node(int p_joint_idx) const;
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void set_fabrik_joint_bone_index(int p_joint_idx, int p_bone_idx);
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int get_fabrik_joint_bone_index(int p_joint_idx) const;
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void set_fabrik_joint_magnet_position(int p_joint_idx, Vector2 p_magnet_position);
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Vector2 get_fabrik_joint_magnet_position(int p_joint_idx) const;
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void set_fabrik_joint_use_target_rotation(int p_joint_idx, bool p_use_target_rotation);
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bool get_fabrik_joint_use_target_rotation(int p_joint_idx) const;
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SkeletonModification2DFABRIK();
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~SkeletonModification2DFABRIK();
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};
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#endif // SKELETONMODIFICATION2DFABRIK_H
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