From 56195873b6f6e84fdaa1c0e98ab9abaee72be9ac Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= Date: Sun, 4 Dec 2016 11:53:59 +0100 Subject: [PATCH] Remove incomplete Inverse Kinematic module The plan is to implement IK properly in the core engine for version 3.1, together with ragdolls in the Skeleton node to let them reuse the same limits and constraints. Therefore we remove this module as part of the API breakage in 3.0, so that we are not limited by staying compatible with it in 3.1. --- modules/ik/SCsub | 7 - modules/ik/config.py | 8 - modules/ik/ik.cpp | 326 ---------------------------------- modules/ik/ik.h | 74 -------- modules/ik/register_types.cpp | 47 ----- modules/ik/register_types.h | 30 ---- 6 files changed, 492 deletions(-) delete mode 100644 modules/ik/SCsub delete mode 100644 modules/ik/config.py delete mode 100644 modules/ik/ik.cpp delete mode 100644 modules/ik/ik.h delete mode 100644 modules/ik/register_types.cpp delete mode 100644 modules/ik/register_types.h diff --git a/modules/ik/SCsub b/modules/ik/SCsub deleted file mode 100644 index 0882406761..0000000000 --- a/modules/ik/SCsub +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env python - -Import('env') - -env.add_source_files(env.modules_sources, "*.cpp") - -Export('env') diff --git a/modules/ik/config.py b/modules/ik/config.py deleted file mode 100644 index 5698a37295..0000000000 --- a/modules/ik/config.py +++ /dev/null @@ -1,8 +0,0 @@ - - -def can_build(platform): - return True - - -def configure(env): - pass diff --git a/modules/ik/ik.cpp b/modules/ik/ik.cpp deleted file mode 100644 index 35b3ba7e83..0000000000 --- a/modules/ik/ik.cpp +++ /dev/null @@ -1,326 +0,0 @@ -/*************************************************************************/ -/* ik.cpp */ -/* Copyright (c) 2016 Sergey Lapin */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* http://www.godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */ -/* */ -/* 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 "ik.h" - -bool InverseKinematics::_get(const StringName& p_name,Variant &r_ret) const -{ - - if (String(p_name)=="ik_bone") { - - r_ret=get_bone_name(); - return true; - } - - return false; -} - -bool InverseKinematics::_set(const StringName& p_name, const Variant& p_value) -{ - - if (String(p_name)=="ik_bone") { - - set_bone_name(p_value); - changed = true; - return true; - } - - return false; -} - -void InverseKinematics::_get_property_list( List* p_list ) const -{ - - Skeleton *parent=NULL; - if(get_parent()) - parent=get_parent()->cast_to(); - - if (parent) { - - String names; - for(int i=0;iget_bone_count();i++) { - if(i>0) - names+=","; - names+=parent->get_bone_name(i); - } - - p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone",PROPERTY_HINT_ENUM,names)); - } else { - - p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone")); - - } - -} - -void InverseKinematics::_check_bind() -{ - - if (get_parent() && get_parent()->cast_to()) { - Skeleton *sk = get_parent()->cast_to(); - int idx = sk->find_bone(ik_bone); - if (idx!=-1) { - ik_bone_no = idx; - bound=true; - } - skel = sk; - } -} - -void InverseKinematics::_check_unbind() -{ - - if (bound) { - - if (get_parent() && get_parent()->cast_to()) { - Skeleton *sk = get_parent()->cast_to(); - int idx = sk->find_bone(ik_bone); - if (idx!=-1) - ik_bone_no = idx; - else - ik_bone_no = 0; - skel = sk; - - } - bound=false; - } -} - - -void InverseKinematics::set_bone_name(const String& p_name) -{ - - if (is_inside_tree()) - _check_unbind(); - - ik_bone=p_name; - - if (is_inside_tree()) - _check_bind(); - changed = true; -} - -String InverseKinematics::get_bone_name() const -{ - - return ik_bone; -} - -void InverseKinematics::set_iterations(int itn) -{ - - if (is_inside_tree()) - _check_unbind(); - - iterations=itn; - - if (is_inside_tree()) - _check_bind(); - changed = true; -} - -int InverseKinematics::get_iterations() const -{ - - return iterations; -} - -void InverseKinematics::set_chain_size(int cs) -{ - if (is_inside_tree()) - _check_unbind(); - - chain_size=cs; - chain.clear(); - if (bound) - update_parameters(); - - if (is_inside_tree()) - _check_bind(); - changed = true; -} - -int InverseKinematics::get_chain_size() const -{ - - return chain_size; -} - -void InverseKinematics::set_precision(float p) -{ - - if (is_inside_tree()) - _check_unbind(); - - precision=p; - - if (is_inside_tree()) - _check_bind(); - changed = true; -} - -float InverseKinematics::get_precision() const -{ - - return precision; -} - -void InverseKinematics::set_speed(float p) -{ - - if (is_inside_tree()) - _check_unbind(); - - speed=p; - - if (is_inside_tree()) - _check_bind(); - changed = true; -} - -float InverseKinematics::get_speed() const -{ - - return speed; -} - -void InverseKinematics::update_parameters() -{ - tail_bone = -1; - for (int i = 0; i < skel->get_bone_count(); i++) - if (skel->get_bone_parent(i) == ik_bone_no) - tail_bone = i; - int cur_bone = ik_bone_no; - int its = chain_size; - while (its > 0 && cur_bone >= 0) { - chain.push_back(cur_bone); - cur_bone = skel->get_bone_parent(cur_bone); - its--; - } -} - -void InverseKinematics::_notification(int p_what) -{ - - switch(p_what) { - - case NOTIFICATION_ENTER_TREE: { - - _check_bind(); - if (bound) { - update_parameters(); - changed = false; - set_process(true); - } - } break; - case NOTIFICATION_PROCESS: { - - Spatial *sksp = skel->cast_to(); - if (!bound) - break; - if (!sksp) - break; - if (changed) { - update_parameters(); - changed = false; - } - Vector3 to = get_translation(); - for (int hump = 0; hump < iterations; hump++) { - int depth = 0; - float olderr = 1000.0; - float psign = 1.0; - bool reached = false; - - for (List::Element *b = chain.front(); b; b = b->next()) { - int cur_bone = b->get(); - Vector3 d = skel->get_bone_global_pose(tail_bone).origin; - Vector3 rg = to; - float err = d.distance_squared_to(rg); - if (err < precision) { - if (!reached && err < precision) - reached = true; - break; - } else - if (reached) - reached = false; - if (err > olderr) - psign = -psign; - Transform mod = skel->get_bone_global_pose(cur_bone); - Quat q1 = Quat(mod.basis).normalized(); - Transform mod2 = mod.looking_at(to, Vector3(0.0, 1.0, 0.0)); - Quat q2 = Quat(mod2.basis).normalized(); - if (psign < 0.0) - q2 = q2.inverse(); - Quat q = q1.slerp(q2, speed / (1.0 + 500.0 * depth)).normalized(); - Transform fin = Transform(q); - fin.origin = mod.origin; - skel->set_bone_global_pose(cur_bone, fin); - depth++; - } - if (reached) - break; - - } - - } break; - case NOTIFICATION_EXIT_TREE: { - set_process(false); - - _check_unbind(); - } break; - } -} -void InverseKinematics::_bind_methods() { - ObjectTypeDB::bind_method(_MD("set_bone_name","ik_bone"),&InverseKinematics::set_bone_name); - ObjectTypeDB::bind_method(_MD("get_bone_name"),&InverseKinematics::get_bone_name); - ObjectTypeDB::bind_method(_MD("set_iterations","iterations"),&InverseKinematics::set_iterations); - ObjectTypeDB::bind_method(_MD("get_iterations"),&InverseKinematics::get_iterations); - ObjectTypeDB::bind_method(_MD("set_chain_size","chain_size"),&InverseKinematics::set_chain_size); - ObjectTypeDB::bind_method(_MD("get_chain_size"),&InverseKinematics::get_chain_size); - ObjectTypeDB::bind_method(_MD("set_precision","precision"),&InverseKinematics::set_precision); - ObjectTypeDB::bind_method(_MD("get_precision"),&InverseKinematics::get_precision); - ObjectTypeDB::bind_method(_MD("set_speed","speed"),&InverseKinematics::set_speed); - ObjectTypeDB::bind_method(_MD("get_speed"),&InverseKinematics::get_speed); - ADD_PROPERTY(PropertyInfo(Variant::INT, "iterations"), _SCS("set_iterations"), _SCS("get_iterations")); - ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_size"), _SCS("set_chain_size"), _SCS("get_chain_size")); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "precision"), _SCS("set_precision"), _SCS("get_precision")); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "speed"), _SCS("set_speed"), _SCS("get_speed")); -} - -InverseKinematics::InverseKinematics() -{ - bound=false; - chain_size = 2; - iterations = 100; - precision = 0.001; - speed = 0.2; - -} - diff --git a/modules/ik/ik.h b/modules/ik/ik.h deleted file mode 100644 index b57d69b026..0000000000 --- a/modules/ik/ik.h +++ /dev/null @@ -1,74 +0,0 @@ -/*************************************************************************/ -/* ik.h */ -/* Copyright (c) 2016 Sergey Lapin */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* http://www.godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */ -/* */ -/* 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. */ -/*************************************************************************/ -#ifndef IK_H -#define IK_H - -#include "scene/3d/skeleton.h" -class InverseKinematics : public Spatial { - OBJ_TYPE(InverseKinematics, Spatial); - bool bound; - String ik_bone; - int ik_bone_no; - int tail_bone; - int chain_size; - Skeleton *skel; - List chain; - void _check_bind(); - void _check_unbind(); - int iterations; - float precision; - float speed; - bool changed; - -protected: - bool _set(const StringName& p_name, const Variant& p_value); - bool _get(const StringName& p_name,Variant &r_ret) const; - void _get_property_list( List *p_list) const; - - void _notification(int p_what); - static void _bind_methods(); - void update_parameters(); -public: - Skeleton *get_skeleton(); - void set_bone_name(const String& p_name); - String get_bone_name() const; - void set_iterations(int itn); - int get_iterations() const; - void set_chain_size(int cs); - int get_chain_size() const; - void set_precision(float p); - float get_precision() const; - void set_speed(float p); - float get_speed() const; - InverseKinematics(); -}; - -#endif - diff --git a/modules/ik/register_types.cpp b/modules/ik/register_types.cpp deleted file mode 100644 index e7df7f55b2..0000000000 --- a/modules/ik/register_types.cpp +++ /dev/null @@ -1,47 +0,0 @@ -/*************************************************************************/ -/* register_types.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* http://www.godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */ -/* */ -/* 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 "register_types.h" -#ifndef _3D_DISABLED -#include "object_type_db.h" -#include "ik.h" -#endif - -void register_ik_types() { - -#ifndef _3D_DISABLED - ObjectTypeDB::register_type(); -#endif -} - - - -void unregister_ik_types() { - - -} diff --git a/modules/ik/register_types.h b/modules/ik/register_types.h deleted file mode 100644 index 828917ade7..0000000000 --- a/modules/ik/register_types.h +++ /dev/null @@ -1,30 +0,0 @@ -/*************************************************************************/ -/* register_types.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* http://www.godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */ -/* */ -/* 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. */ -/*************************************************************************/ -void register_ik_types(); -void unregister_ik_types();