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Merge pull request #53821 from TwistedTwigleg/Godot_Master_SkeletonModificationIK_FixPoseChange

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Fix for SkeletonModification3Ds to work with the new bone pose changes.
This commit is contained in:
Rémi Verschelde 2021-10-16 23:54:37 +02:00 committed by GitHub
parent c240275482 0cedc04769
commit c2a616f3ec
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6 changed files with 72 additions and 45 deletions
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2
scene/3d/skeleton_3d.cpp
View file

@ -1113,7 +1113,7 @@ Transform3D Skeleton3D::global_pose_to_local_pose(int p_bone_idx, Transform3D p_
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.affine_inverse();
Transform3D conversion_transform = get_bone_global_pose(parent_bone_idx).affine_inverse();
return conversion_transform * p_global_pose;
} else {
return p_global_pose;

76
scene/resources/skeleton_modification_3d_fabrik.cpp
View file

@ -149,6 +149,11 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) {
return;
}
// Make sure the transform cache is the correct size
if (fabrik_transforms.size() != fabrik_data_chain.size()) {
fabrik_transforms.resize(fabrik_data_chain.size());
}
// Verify that all joints have a valid bone ID, and that all bone lengths are zero or more
// Also, while we are here, apply magnet positions.
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
@ -162,27 +167,24 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) {
if (_print_execution_error(fabrik_data_chain[i].length < 0, "FABRIK Joint " + itos(i) + " has an invalid joint length. Cannot execute!")) {
return;
}
Transform3D local_pose_override = stack->skeleton->get_bone_local_pose_override(fabrik_data_chain[i].bone_idx);
fabrik_transforms[i] = stack->skeleton->get_bone_global_pose(fabrik_data_chain[i].bone_idx);
// Apply magnet positions:
if (stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx) >= 0) {
int parent_bone_idx = stack->skeleton->get_bone_parent(fabrik_data_chain[i].bone_idx);
Transform3D conversion_transform = (stack->skeleton->get_bone_global_pose(parent_bone_idx));
local_pose_override.origin += conversion_transform.basis.xform_inv(fabrik_data_chain[i].magnet_position);
fabrik_transforms[i].origin += conversion_transform.basis.xform_inv(fabrik_data_chain[i].magnet_position);
} else {
local_pose_override.origin += fabrik_data_chain[i].magnet_position;
fabrik_transforms[i].origin += fabrik_data_chain[i].magnet_position;
}
stack->skeleton->set_bone_local_pose_override(fabrik_data_chain[i].bone_idx, local_pose_override, stack->strength, true);
}
Transform3D origin_global_pose_trans = stack->skeleton->get_bone_global_pose_no_override(fabrik_data_chain[0].bone_idx);
target_global_pose = stack->skeleton->world_transform_to_global_pose(node_target->get_global_transform());
origin_global_pose = stack->skeleton->local_pose_to_global_pose(
fabrik_data_chain[0].bone_idx, stack->skeleton->get_bone_local_pose_override(fabrik_data_chain[0].bone_idx));
origin_global_pose = origin_global_pose_trans;
final_joint_idx = fabrik_data_chain.size() - 1;
real_t target_distance = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[final_joint_idx].bone_idx, target_global_pose).origin.length();
real_t target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin);
chain_iterations = 0;
while (target_distance > chain_tolerance) {
@ -190,7 +192,7 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) {
chain_forwards();
// update the target distance
target_distance = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[final_joint_idx].bone_idx, target_global_pose).origin.length();
target_distance = fabrik_transforms[final_joint_idx].origin.distance_to(target_global_pose.origin);
// update chain iterations
chain_iterations += 1;
@ -205,7 +207,7 @@ void SkeletonModification3DFABRIK::_execute(real_t p_delta) {
void SkeletonModification3DFABRIK::chain_backwards() {
int final_bone_idx = fabrik_data_chain[final_joint_idx].bone_idx;
Transform3D final_joint_trans = stack->skeleton->local_pose_to_global_pose(final_bone_idx, stack->skeleton->get_bone_local_pose_override(final_bone_idx));
Transform3D final_joint_trans = fabrik_transforms[final_joint_idx];
// Get the direction the final bone is facing in.
stack->skeleton->update_bone_rest_forward_vector(final_bone_idx);
@ -220,52 +222,46 @@ void SkeletonModification3DFABRIK::chain_backwards() {
// set the position of the final joint to the target position
final_joint_trans.origin = target_global_pose.origin - (direction * fabrik_data_chain[final_joint_idx].length);
final_joint_trans = stack->skeleton->global_pose_to_local_pose(final_bone_idx, final_joint_trans);
stack->skeleton->set_bone_local_pose_override(final_bone_idx, final_joint_trans, stack->strength, true);
fabrik_transforms[final_joint_idx] = final_joint_trans;
// for all other joints, move them towards the target
int i = final_joint_idx;
while (i >= 1) {
int next_bone_idx = fabrik_data_chain[i].bone_idx;
Transform3D next_bone_trans = stack->skeleton->local_pose_to_global_pose(next_bone_idx, stack->skeleton->get_bone_local_pose_override(next_bone_idx));
Transform3D next_bone_trans = fabrik_transforms[i];
i -= 1;
int current_bone_idx = fabrik_data_chain[i].bone_idx;
Transform3D current_trans = stack->skeleton->local_pose_to_global_pose(current_bone_idx, stack->skeleton->get_bone_local_pose_override(current_bone_idx));
Transform3D current_trans = fabrik_transforms[i];
real_t length = fabrik_data_chain[i].length / (current_trans.origin.distance_to(next_bone_trans.origin));
current_trans.origin = next_bone_trans.origin.lerp(current_trans.origin, length);
// Apply it back to the skeleton
stack->skeleton->set_bone_local_pose_override(current_bone_idx, stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans), stack->strength, true);
// Save the result
fabrik_transforms[i] = current_trans;
}
}
void SkeletonModification3DFABRIK::chain_forwards() {
// Set root at the initial position.
int origin_bone_idx = fabrik_data_chain[0].bone_idx;
Transform3D root_transform = stack->skeleton->local_pose_to_global_pose(origin_bone_idx, stack->skeleton->get_bone_local_pose_override(origin_bone_idx));
Transform3D root_transform = fabrik_transforms[0];
root_transform.origin = origin_global_pose.origin;
stack->skeleton->set_bone_local_pose_override(origin_bone_idx, stack->skeleton->global_pose_to_local_pose(origin_bone_idx, root_transform), stack->strength, true);
fabrik_transforms[0] = origin_global_pose;
for (uint32_t i = 0; i < fabrik_data_chain.size() - 1; i++) {
int current_bone_idx = fabrik_data_chain[i].bone_idx;
Transform3D current_trans = stack->skeleton->local_pose_to_global_pose(current_bone_idx, stack->skeleton->get_bone_local_pose_override(current_bone_idx));
int next_bone_idx = fabrik_data_chain[i + 1].bone_idx;
Transform3D next_bone_trans = stack->skeleton->local_pose_to_global_pose(next_bone_idx, stack->skeleton->get_bone_local_pose_override(next_bone_idx));
Transform3D current_trans = fabrik_transforms[i];
Transform3D next_bone_trans = fabrik_transforms[i + 1];
real_t length = fabrik_data_chain[i].length / (next_bone_trans.origin.distance_to(current_trans.origin));
next_bone_trans.origin = current_trans.origin.lerp(next_bone_trans.origin, length);
// Apply it back to the skeleton
stack->skeleton->set_bone_local_pose_override(next_bone_idx, stack->skeleton->global_pose_to_local_pose(next_bone_idx, next_bone_trans), stack->strength, true);
// Save the result
fabrik_transforms[i + 1] = next_bone_trans;
}
}
void SkeletonModification3DFABRIK::chain_apply() {
for (uint32_t i = 0; i < fabrik_data_chain.size(); i++) {
int current_bone_idx = fabrik_data_chain[i].bone_idx;
Transform3D current_trans = stack->skeleton->get_bone_local_pose_override(current_bone_idx);
current_trans = stack->skeleton->local_pose_to_global_pose(current_bone_idx, current_trans);
Transform3D current_trans = fabrik_transforms[i];
// If this is the last bone in the chain...
if (i == fabrik_data_chain.size() - 1) {
@ -280,8 +276,7 @@ void SkeletonModification3DFABRIK::chain_apply() {
current_trans.basis = target_global_pose.basis.orthonormalized().scaled(current_trans.basis.get_scale());
}
} else { // every other bone in the chain...
int next_bone_idx = fabrik_data_chain[i + 1].bone_idx;
Transform3D next_trans = stack->skeleton->local_pose_to_global_pose(next_bone_idx, stack->skeleton->get_bone_local_pose_override(next_bone_idx));
Transform3D next_trans = fabrik_transforms[i + 1];
// Get the forward direction that the basis is facing in right now.
stack->skeleton->update_bone_rest_forward_vector(current_bone_idx);
@ -290,9 +285,7 @@ void SkeletonModification3DFABRIK::chain_apply() {
current_trans.basis.rotate_to_align(forward_vector, current_trans.origin.direction_to(next_trans.origin));
current_trans.basis.rotate_local(forward_vector, fabrik_data_chain[i].roll);
}
current_trans = stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans);
current_trans.origin = Vector3(0, 0, 0);
stack->skeleton->set_bone_local_pose_override(current_bone_idx, current_trans, stack->strength, true);
stack->skeleton->set_bone_local_pose_override(current_bone_idx, stack->skeleton->global_pose_to_local_pose(current_bone_idx, current_trans), stack->strength, true);
}
// Update all the bones so the next modification has up-to-date data.
@ -374,6 +367,7 @@ int SkeletonModification3DFABRIK::get_fabrik_data_chain_length() {
void SkeletonModification3DFABRIK::set_fabrik_data_chain_length(int p_length) {
ERR_FAIL_COND(p_length < 0);
fabrik_data_chain.resize(p_length);
fabrik_transforms.resize(p_length);
execution_error_found = false;
notify_property_list_changed();
}
@ -513,8 +507,11 @@ void SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length(int p_join
Transform3D node_trans = tip_node->get_global_transform();
node_trans = stack->skeleton->world_transform_to_global_pose(node_trans);
node_trans = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, node_trans);
fabrik_data_chain[p_joint_idx].length = node_trans.origin.length();
//node_trans = stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, node_trans);
//fabrik_data_chain[p_joint_idx].length = node_trans.origin.length();
fabrik_data_chain[p_joint_idx].length = stack->skeleton->get_bone_global_pose(fabrik_data_chain[p_joint_idx].bone_idx).origin.distance_to(node_trans.origin);
} else { // Use child bone(s) to update joint length, if possible
Vector<int> bone_children = stack->skeleton->get_bone_children(fabrik_data_chain[p_joint_idx].bone_idx);
if (bone_children.size() <= 0) {
@ -522,10 +519,13 @@ void SkeletonModification3DFABRIK::fabrik_joint_auto_calculate_length(int p_join
return;
}
Transform3D bone_trans = stack->skeleton->get_bone_global_pose(fabrik_data_chain[p_joint_idx].bone_idx);
real_t final_length = 0;
for (int i = 0; i < bone_children.size(); i++) {
Transform3D child_transform = stack->skeleton->get_bone_global_pose(bone_children[i]);
final_length += stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, child_transform).origin.length();
final_length += bone_trans.origin.distance_to(child_transform.origin);
//final_length += stack->skeleton->global_pose_to_local_pose(fabrik_data_chain[p_joint_idx].bone_idx, child_transform).origin.length();
}
fabrik_data_chain[p_joint_idx].length = final_length / bone_children.size();
}

2
scene/resources/skeleton_modification_3d_fabrik.h
View file

@ -55,6 +55,8 @@ private:
};
LocalVector<FABRIK_Joint_Data> fabrik_data_chain;
LocalVector<Transform3D> fabrik_transforms;
NodePath target_node;
ObjectID target_node_cache;

7
scene/resources/skeleton_modification_3d_jiggle.cpp
View file

@ -172,7 +172,12 @@ void SkeletonModification3DJiggle::_execute_jiggle_joint(int p_joint_idx, Node3D
return;
}
Transform3D new_bone_trans = stack->skeleton->local_pose_to_global_pose(jiggle_data_chain[p_joint_idx].bone_idx, stack->skeleton->get_bone_local_pose_override(jiggle_data_chain[p_joint_idx].bone_idx));
Transform3D bone_local_pos = stack->skeleton->get_bone_local_pose_override(jiggle_data_chain[p_joint_idx].bone_idx);
if (bone_local_pos == Transform3D()) {
bone_local_pos = stack->skeleton->get_bone_pose(jiggle_data_chain[p_joint_idx].bone_idx);
}
Transform3D new_bone_trans = stack->skeleton->local_pose_to_global_pose(jiggle_data_chain[p_joint_idx].bone_idx, bone_local_pos);
Vector3 target_position = stack->skeleton->world_transform_to_global_pose(p_target->get_global_transform()).origin;
jiggle_data_chain[p_joint_idx].force = (target_position - jiggle_data_chain[p_joint_idx].dynamic_position) * jiggle_data_chain[p_joint_idx].stiffness * p_delta;

4
scene/resources/skeleton_modification_3d_lookat.cpp
View file

@ -96,8 +96,10 @@ void SkeletonModification3DLookAt::_execute(real_t p_delta) {
if (_print_execution_error(bone_idx <= -1, "Bone index is invalid. Cannot execute modification!")) {
return;
}
Transform3D new_bone_trans = stack->skeleton->get_bone_local_pose_override(bone_idx);
if (new_bone_trans == Transform3D()) {
new_bone_trans = stack->skeleton->get_bone_pose(bone_idx);
}
Vector3 target_pos = stack->skeleton->global_pose_to_local_pose(bone_idx, stack->skeleton->world_transform_to_global_pose(target->get_global_transform())).origin;
// Lock the rotation to a plane relative to the bone by changing the target position

26
scene/resources/skeleton_modification_3d_twoboneik.cpp
View file

@ -178,7 +178,16 @@ void SkeletonModification3DTwoBoneIK::_execute(real_t p_delta) {
}
Transform3D pole_trans = stack->skeleton->world_transform_to_global_pose(pole->get_global_transform());
bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx));
Transform3D bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx);
if (bone_one_local_pos == Transform3D()) {
bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx);
}
Transform3D bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx);
if (bone_two_local_pos == Transform3D()) {
bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx);
}
bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos);
bone_one_trans = bone_one_trans.looking_at(pole_trans.origin, Vector3(0, 1, 0));
bone_one_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_one_bone_idx, bone_one_trans.basis);
stack->skeleton->update_bone_rest_forward_vector(joint_one_bone_idx);
@ -186,7 +195,7 @@ void SkeletonModification3DTwoBoneIK::_execute(real_t p_delta) {
stack->skeleton->set_bone_local_pose_override(joint_one_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_one_bone_idx, bone_one_trans), stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_one_bone_idx);
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx));
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos);
bone_two_trans = bone_two_trans.looking_at(target_trans.origin, Vector3(0, 1, 0));
bone_two_trans.basis = stack->skeleton->global_pose_z_forward_to_bone_forward(joint_two_bone_idx, bone_two_trans.basis);
stack->skeleton->update_bone_rest_forward_vector(joint_two_bone_idx);
@ -194,8 +203,17 @@ void SkeletonModification3DTwoBoneIK::_execute(real_t p_delta) {
stack->skeleton->set_bone_local_pose_override(joint_two_bone_idx, stack->skeleton->global_pose_to_local_pose(joint_two_bone_idx, bone_two_trans), stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(joint_two_bone_idx);
} else {
bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx));
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx));
Transform3D bone_one_local_pos = stack->skeleton->get_bone_local_pose_override(joint_one_bone_idx);
if (bone_one_local_pos == Transform3D()) {
bone_one_local_pos = stack->skeleton->get_bone_pose(joint_one_bone_idx);
}
Transform3D bone_two_local_pos = stack->skeleton->get_bone_local_pose_override(joint_two_bone_idx);
if (bone_two_local_pos == Transform3D()) {
bone_two_local_pos = stack->skeleton->get_bone_pose(joint_two_bone_idx);
}
bone_one_trans = stack->skeleton->local_pose_to_global_pose(joint_one_bone_idx, bone_one_local_pos);
bone_two_trans = stack->skeleton->local_pose_to_global_pose(joint_two_bone_idx, bone_two_local_pos);
}
Transform3D bone_two_tip_trans;