Merge pull request #2206 from QuantumCoderQC/IKfix29_FK

Improve bone IK. Add new nodes for better animation control

Sources/armory/logicnode/BoneFKNode.hx

@@ -1,5 +1,7 @@
 package armory.logicnode;
 
+import iron.math.Quat;
+import iron.math.Vec4;
 import iron.object.Object;
 import iron.object.BoneAnimation;
 import iron.math.Mat4;
@@ -26,19 +28,28 @@ class BoneFKNode extends LogicNode {
 		var anim = object.animation != null ? cast(object.animation, BoneAnimation) : null;
 		if (anim == null) anim = object.getParentArmature(object.name);
 
-		// Manipulating bone in world space
+		// Get bone in armature
 		var bone = anim.getBone(boneName);
-		m = anim.getBoneMat(bone);
-		w = anim.getAbsMat(bone);
 
 		function moveBone() {
-			m.setFrom(w);
-			m.multmat(transform);
-			iw.getInverse(w);
-			m.multmat(iw);
+			
+			var t2 = Mat4.identity();
+			var loc= new Vec4();
+			var rot = new Quat();
+			var scl = new Vec4();
 
-			// anim.removeUpdate(moveBone);
-			// notified = false;
+			//Set scale to Armature scale. Bone scaling not yet implemented
+			t2.setFrom(transform);
+			t2.decompose(loc, rot, scl);
+			scl = object.transform.world.getScale();
+			t2.compose(loc, rot, scl);
+
+			//Set the bone local transform from world transform
+			anim.setBoneMatFromWorldMat(t2, bone);
+
+			//Remove this method from animation loop after FK
+			anim.removeUpdate(moveBone);
+			notified = false;
 		}
 
 		if (!notified) {

Sources/armory/logicnode/BoneIKNode.hx

@@ -7,6 +7,13 @@ import iron.math.Vec4;
 class BoneIKNode extends LogicNode {
 
 	var goal: Vec4;
+	var pole: Vec4;
+	var poleEnabled: Bool;
+	var chainLength: Int;
+	var maxIterartions: Int;
+	var precision: Float;
+	var rollAngle: Float;
+
 	var notified = false;
 
 	public function new(tree: LogicTree) {
@@ -19,6 +26,12 @@ class BoneIKNode extends LogicNode {
 		var object: Object = inputs[1].get();
 		var boneName: String = inputs[2].get();
 		goal = inputs[3].get();
+		poleEnabled = inputs[4].get();
+		pole = inputs[5].get();
+		chainLength = inputs[6].get();
+		maxIterartions = inputs[7].get();
+		precision = inputs[8].get();
+		rollAngle = inputs[9].get();
 
 		if (object == null || goal == null) return;
 		var anim = object.animation != null ? cast(object.animation, BoneAnimation) : null;
@@ -26,11 +39,15 @@ class BoneIKNode extends LogicNode {
 
 		var bone = anim.getBone(boneName);
 
-		function solveBone() {
-			anim.solveIK(bone, goal);
+		if(! poleEnabled) pole = null;
 
-			// anim.removeUpdate(solveBone);
-			// notified = false;
+		function solveBone() {
+			//Solve IK
+			anim.solveIK(bone, goal, precision, maxIterartions, chainLength, pole, rollAngle);
+
+			//Remove this method from animation loop after IK
+			anim.removeUpdate(solveBone);
+			notified = false;
 		}
 
 		if (!notified) {

Sources/armory/logicnode/GetBoneFkIkOnlyNode.hx

@@ -0,0 +1,31 @@
+package armory.logicnode;
+
+import iron.object.Object;
+import iron.object.BoneAnimation;
+
+class GetBoneFkIkOnlyNode extends LogicNode {
+
+	public function new(tree: LogicTree) {
+		super(tree);
+	}
+
+	override function get(from: Int): Bool {
+		#if arm_skin
+
+		var object: Object = inputs[0].get();
+		var boneName: String = inputs[1].get();
+
+		if (object == null) return null;
+		var anim = object.animation != null ? cast(object.animation, BoneAnimation) : null;
+		if (anim == null) anim = object.getParentArmature(object.name);
+
+		// Get bone in armature
+		var bone = anim.getBone(boneName);
+
+        //Get bone transform in world coordinates
+        return bone.is_IK_FK_only;
+
+
+		#end
+	}
+}

Sources/armory/logicnode/GetBoneTransformNode.hx

@@ -0,0 +1,30 @@
+package armory.logicnode;
+
+import iron.object.Object;
+import iron.object.BoneAnimation;
+import iron.math.Mat4;
+
+class GetBoneTransformNode extends LogicNode {
+
+	public function new(tree: LogicTree) {
+		super(tree);
+	}
+
+	override function get(from: Int): Mat4 {
+		#if arm_skin
+
+		var object: Object = inputs[0].get();
+		var boneName: String = inputs[1].get();
+
+		if (object == null) return null;
+		var anim = object.animation != null ? cast(object.animation, BoneAnimation) : null;
+		if (anim == null) anim = object.getParentArmature(object.name);
+
+		// Get bone in armature
+		var bone = anim.getBone(boneName);
+
+		return anim.getAbsWorldMat(bone);
+
+		#end
+	}
+}

Sources/armory/logicnode/SetBoneFkIkOnlyNode.hx

@@ -0,0 +1,35 @@
+package armory.logicnode;
+
+import iron.math.Quat;
+import iron.math.Vec4;
+import iron.object.Object;
+import iron.object.BoneAnimation;
+
+class SetBoneFkIkOnlyNode extends LogicNode {
+
+	public function new(tree: LogicTree) {
+		super(tree);
+	}
+
+	override function run(from: Int) {
+		#if arm_skin
+
+		var object: Object = inputs[1].get();
+		var boneName: String = inputs[2].get();
+		var fk_ik_only: Bool = inputs[3].get();
+
+		if (object == null) return;
+		var anim = object.animation != null ? cast(object.animation, BoneAnimation) : null;
+		if (anim == null) anim = object.getParentArmature(object.name);
+
+		// Get bone in armature
+		var bone = anim.getBone(boneName);
+
+        //Set bone animated by FK or IK only
+        bone.is_IK_FK_only = fk_ik_only;
+
+		runOutput(0);
+
+		#end
+	}
+}

blender/arm/logicnode/animation/LN_bone_ik.py

@@ -1,10 +1,29 @@
 from arm.logicnode.arm_nodes import *
 
 class BoneIKNode(ArmLogicTreeNode):
-    """Applies inverse kinematics in the given object bone."""
+    """Performs inverse kinematics on the selected armature with specified bone.
+    
+    @input Object: Armature on which IK should be performed.
+
+    @input Bone: Effector or tip bone for the inverse kinematics
+
+    @input Goal Position: Position in world coordinates the effector bone will track to
+
+    @input Enable Pole: Bend IK solution towards pole location
+
+    @input Pole Position: Location of the pole in world coordinates
+
+    @input Chain Length: Number of bones to include in the IK solver including the effector. If set to 0, all bones from effector to the root bone of the armature will be considered.
+    
+    @input Max Iterations: Maximum allowed FABRIK iterations to solve for IK. For longer chains, more iterations are needed.
+
+    @input Precision: Presition of IK to stop at. It is described as a tolerence in length. Typically 0.01 is a good value.
+
+    @input Roll Angle: Roll the bones along their local axis with specified radians. set 0 for no extra roll.
+    """
     bl_idname = 'LNBoneIKNode'
     bl_label = 'Bone IK'
-    arm_version = 1
+    arm_version = 2
     arm_section = 'armature'
 
     def init(self, context):
@@ -12,6 +31,22 @@ class BoneIKNode(ArmLogicTreeNode):
         self.add_input('ArmNodeSocketAction', 'In')
         self.add_input('ArmNodeSocketObject', 'Object')
         self.add_input('NodeSocketString', 'Bone')
-        self.add_input('NodeSocketVector', 'Goal')
+        self.add_input('NodeSocketVector', 'Goal Position')
+        self.add_input('NodeSocketBool', 'Enable Pole')
+        self.add_input('NodeSocketVector', 'Pole Position')
+        self.add_input('NodeSocketInt', 'Chain Length')
+        self.add_input('NodeSocketInt', 'Max Iterations', 10)
+        self.add_input('NodeSocketFloat', 'Precision', 0.01)
+        self.add_input('NodeSocketFloat', 'Roll Angle')
+
 
         self.add_output('ArmNodeSocketAction', 'Out')
+
+    def get_replacement_node(self, node_tree: bpy.types.NodeTree):
+        if self.arm_version not in (0, 1):
+            raise LookupError()
+        
+        return NodeReplacement(
+            'LNBoneIKNode', self.arm_version, 'LNBoneIKNode', 2,
+            in_socket_mapping={0:0, 1:1, 2:2, 3:3}, out_socket_mapping={0:0}
+        )

blender/arm/logicnode/animation/LN_get_bone_fk_ik_only.py

@@ -0,0 +1,14 @@
+from arm.logicnode.arm_nodes import *
+
+class GetBoneFkIkOnlyNode(ArmLogicTreeNode):
+    """Get if a particular bone is animated by Forward kinematics or Inverse kinematics only."""
+    bl_idname = 'LNGetBoneFkIkOnlyNode'
+    bl_label = 'Get Bone FK IK Only'
+    arm_version = 1
+    arm_section = 'armature'
+
+    def init(self, context):
+        super(GetBoneFkIkOnlyNode, self).init(context)
+        self.add_input('ArmNodeSocketObject', 'Object')
+        self.add_input('NodeSocketString', 'Bone')
+        self.add_output('NodeSocketBool', 'FK or IK only')

blender/arm/logicnode/animation/LN_get_bone_transform.py

@@ -0,0 +1,14 @@
+from arm.logicnode.arm_nodes import *
+
+class GetBoneTransformNode(ArmLogicTreeNode):
+    """Returns bone transform in world space."""
+    bl_idname = 'LNGetBoneTransformNode'
+    bl_label = 'Get Bone Transform'
+    arm_version = 1
+    arm_section = 'armature'
+
+    def init(self, context):
+        super(GetBoneTransformNode, self).init(context)
+        self.add_input('ArmNodeSocketObject', 'Object')
+        self.add_input('NodeSocketString', 'Bone')
+        self.add_output('NodeSocketShader', 'Transform')

blender/arm/logicnode/animation/LN_set_bone_fk_ik_only.py

@@ -0,0 +1,17 @@
+from arm.logicnode.arm_nodes import *
+
+class SetBoneFkIkOnlyNode(ArmLogicTreeNode):
+    """Set particular bone to be animated by Forward kinematics or Inverse kinematics only. All other animations will be ignored"""
+    bl_idname = 'LNSetBoneFkIkOnlyNode'
+    bl_label = 'Set Bone FK IK Only'
+    arm_version = 1
+    arm_section = 'armature'
+
+    def init(self, context):
+        super(SetBoneFkIkOnlyNode, self).init(context)
+        self.add_input('ArmNodeSocketAction', 'In')
+        self.add_input('ArmNodeSocketObject', 'Object')
+        self.add_input('NodeSocketString', 'Bone')
+        self.add_input('NodeSocketBool', 'FK or IK only')
+
+        self.add_output('ArmNodeSocketAction', 'Out')