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Fixes 2D IK

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This commit is contained in:
groud 2018-09-20 22:33:49 +02:00
parent b1187b9a2f
commit de01b7941d
2 changed files with 141 additions and 97 deletions
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236
editor/plugins/canvas_item_editor_plugin.cpp
View file

@ -715,6 +715,46 @@ Vector2 CanvasItemEditor::_position_to_anchor(const Control *p_control, Vector2
return (p_control->get_transform().xform(position) - parent_rect.position) / parent_rect.size;
}
void CanvasItemEditor::_save_canvas_item_ik_chain(const CanvasItem *p_canvas_item, List<float> *p_bones_length, List<Dictionary> *p_bones_state) {
if (p_bones_length)
*p_bones_length = List<float>();
if (p_bones_state)
*p_bones_state = List<Dictionary>();
const Node2D *bone = Object::cast_to<Node2D>(p_canvas_item);
if (bone && bone->has_meta("_edit_bone_")) {
// Check if we have an IK chain
List<const Node2D *> bone_ik_list;
bool ik_found = false;
bone = Object::cast_to<Node2D>(bone->get_parent());
while (bone) {
bone_ik_list.push_back(bone);
if (bone->has_meta("_edit_ik_")) {
ik_found = true;
break;
} else if (!bone->has_meta("_edit_bone_")) {
break;
}
bone = Object::cast_to<Node2D>(bone->get_parent());
}
//Save the bone state and length if we have an IK chain
if (ik_found) {
bone = Object::cast_to<Node2D>(p_canvas_item);
Transform2D bone_xform = bone->get_global_transform();
for (List<const Node2D *>::Element *bone_E = bone_ik_list.front(); bone_E; bone_E = bone_E->next()) {
bone_xform = bone_xform * bone->get_transform().affine_inverse();
const Node2D *parent_bone = bone_E->get();
if (p_bones_length)
p_bones_length->push_back(parent_bone->get_global_transform().get_origin().distance_to(bone->get_global_position()));
if (p_bones_state)
p_bones_state->push_back(parent_bone->_edit_get_state());
bone = parent_bone;
}
}
}
}
void CanvasItemEditor::_save_canvas_item_state(List<CanvasItem *> p_canvas_items, bool save_bones) {
for (List<CanvasItem *>::Element *E = p_canvas_items.front(); E; E = E->next()) {
CanvasItem *canvas_item = E->get();
@ -727,54 +767,28 @@ void CanvasItemEditor::_save_canvas_item_state(List<CanvasItem *> p_canvas_items
} else {
se->pre_drag_rect = Rect2();
}
se->pre_drag_bones_length = List<float>();
se->pre_drag_bones_undo_state = List<Dictionary>();
// If we have a bone, save the state of all nodes in the IK chain
Node2D *bone = Object::cast_to<Node2D>(canvas_item);
if (bone && bone->has_meta("_edit_bone_")) {
// Check if we have an IK chain
List<Node2D *> bone_ik_list;
bool ik_found = false;
bone = Object::cast_to<Node2D>(bone->get_parent());
while (bone) {
bone_ik_list.push_back(bone);
if (bone->has_meta("_edit_ik_")) {
ik_found = true;
break;
} else if (!bone->has_meta("_edit_bone_")) {
break;
}
bone = Object::cast_to<Node2D>(bone->get_parent());
}
//Save the bone state and length if we have an IK chain
if (ik_found) {
bone = Object::cast_to<Node2D>(canvas_item);
Transform2D bone_xform = bone->get_global_transform();
for (List<Node2D *>::Element *bone_E = bone_ik_list.front(); bone_E; bone_E = bone_E->next()) {
bone_xform = bone_xform * bone->get_transform().affine_inverse();
Node2D *parent_bone = bone_E->get();
se->pre_drag_bones_length.push_back(parent_bone->get_global_transform().get_origin().distance_to(bone->get_global_position()));
se->pre_drag_bones_undo_state.push_back(parent_bone->_edit_get_state());
bone = parent_bone;
}
}
}
_save_canvas_item_ik_chain(canvas_item, &(se->pre_drag_bones_length), &(se->pre_drag_bones_undo_state));
}
}
}
void CanvasItemEditor::_restore_canvas_item_ik_chain(CanvasItem *p_canvas_item, const List<Dictionary> *p_bones_state) {
CanvasItem *canvas_item = p_canvas_item;
for (const List<Dictionary>::Element *E = p_bones_state->front(); E; E = E->next()) {
canvas_item = Object::cast_to<CanvasItem>(canvas_item->get_parent());
canvas_item->_edit_set_state(E->get());
}
}
void CanvasItemEditor::_restore_canvas_item_state(List<CanvasItem *> p_canvas_items, bool restore_bones) {
for (List<CanvasItem *>::Element *E = drag_selection.front(); E; E = E->next()) {
CanvasItem *canvas_item = E->get();
CanvasItemEditorSelectedItem *se = editor_selection->get_node_editor_data<CanvasItemEditorSelectedItem>(canvas_item);
canvas_item->_edit_set_state(se->undo_state);
if (restore_bones) {
for (List<Dictionary>::Element *E = se->pre_drag_bones_undo_state.front(); E; E = E->next()) {
canvas_item = Object::cast_to<CanvasItem>(canvas_item->get_parent());
canvas_item->_edit_set_state(E->get());
}
_restore_canvas_item_ik_chain(canvas_item, &(se->pre_drag_bones_undo_state));
}
}
}
@ -1199,73 +1213,72 @@ bool CanvasItemEditor::_gui_input_pivot(const Ref<InputEvent> &p_event) {
void CanvasItemEditor::_solve_IK(Node2D *leaf_node, Point2 target_position) {
CanvasItemEditorSelectedItem *se = editor_selection->get_node_editor_data<CanvasItemEditorSelectedItem>(leaf_node);
if (se && !se->pre_drag_bones_undo_state.empty()) {
if (se) {
int nb_bones = se->pre_drag_bones_undo_state.size();
if (nb_bones > 0) {
// Build the node list
Point2 leaf_pos = target_position;
// Build the node list
Point2 leaf_pos = target_position;
List<Node2D *> joints_list;
List<Point2> joints_pos;
Node2D *joint = leaf_node;
Transform2D joint_transform = leaf_node->get_global_transform_with_canvas();
for (int i = 0; i < se->pre_drag_bones_undo_state.size() + 1; i++) {
joints_list.push_back(joint);
joints_pos.push_back(joint_transform.get_origin());
joint_transform = joint_transform * joint->get_transform().affine_inverse();
joint = Object::cast_to<Node2D>(joint->get_parent());
}
Point2 root_pos = joints_list.back()->get()->get_global_transform_with_canvas().get_origin();
List<Node2D *> joints_list;
List<Point2> joints_pos;
Node2D *joint = leaf_node;
Transform2D joint_transform = leaf_node->get_global_transform_with_canvas();
for (int i = 0; i < nb_bones + 1; i++) {
joints_list.push_back(joint);
joints_pos.push_back(joint_transform.get_origin());
joint_transform = joint_transform * joint->get_transform().affine_inverse();
joint = Object::cast_to<Node2D>(joint->get_parent());
}
Point2 root_pos = joints_list.back()->get()->get_global_transform_with_canvas().get_origin();
// Restraints the node to a maximum distance is necessary
float total_len = 0;
for (List<float>::Element *E = se->pre_drag_bones_length.front(); E; E = E->next()) {
total_len += E->get();
}
if ((root_pos.distance_to(leaf_pos)) > total_len) {
Vector2 rel = leaf_pos - root_pos;
rel = rel.normalized() * total_len;
leaf_pos = root_pos + rel;
}
joints_pos[0] = leaf_pos;
// Run the solver
int solver_iterations = 64;
float solver_k = 0.3;
// Build the position list
for (int i = 0; i < solver_iterations; i++) {
// Handle the leaf joint
int node_id = 0;
// Restraints the node to a maximum distance is necessary
float total_len = 0;
for (List<float>::Element *E = se->pre_drag_bones_length.front(); E; E = E->next()) {
Vector2 direction = (joints_pos[node_id + 1] - joints_pos[node_id]).normalized();
int len = E->get();
if (E == se->pre_drag_bones_length.front()) {
joints_pos[1] = joints_pos[1].linear_interpolate(joints_pos[0] + len * direction, solver_k);
} else if (E == se->pre_drag_bones_length.back()) {
joints_pos[node_id] = joints_pos[node_id].linear_interpolate(joints_pos[node_id + 1] - len * direction, solver_k);
} else {
Vector2 center = (joints_pos[node_id + 1] + joints_pos[node_id]) / 2.0;
joints_pos[node_id] = joints_pos[node_id].linear_interpolate(center - (direction * len) / 2.0, solver_k);
joints_pos[node_id + 1] = joints_pos[node_id + 1].linear_interpolate(center + (direction * len) / 2.0, solver_k);
total_len += E->get();
}
if ((root_pos.distance_to(leaf_pos)) > total_len) {
Vector2 rel = leaf_pos - root_pos;
rel = rel.normalized() * total_len;
leaf_pos = root_pos + rel;
}
joints_pos[0] = leaf_pos;
// Run the solver
int solver_iterations = 64;
float solver_k = 0.3;
// Build the position list
for (int i = 0; i < solver_iterations; i++) {
// Handle the leaf joint
int node_id = 0;
for (List<float>::Element *E = se->pre_drag_bones_length.front(); E; E = E->next()) {
Vector2 direction = (joints_pos[node_id + 1] - joints_pos[node_id]).normalized();
int len = E->get();
if (E == se->pre_drag_bones_length.front()) {
joints_pos[1] = joints_pos[1].linear_interpolate(joints_pos[0] + len * direction, solver_k);
} else if (E == se->pre_drag_bones_length.back()) {
joints_pos[node_id] = joints_pos[node_id].linear_interpolate(joints_pos[node_id + 1] - len * direction, solver_k);
} else {
Vector2 center = (joints_pos[node_id + 1] + joints_pos[node_id]) / 2.0;
joints_pos[node_id] = joints_pos[node_id].linear_interpolate(center - (direction * len) / 2.0, solver_k);
joints_pos[node_id + 1] = joints_pos[node_id + 1].linear_interpolate(center + (direction * len) / 2.0, solver_k);
}
node_id++;
}
node_id++;
}
// Set the position
for (int node_id = joints_list.size() - 1; node_id > 0; node_id--) {
Point2 current = (joints_list[node_id - 1]->get_global_position() - joints_list[node_id]->get_global_position()).normalized();
Point2 target = (joints_pos[node_id - 1] - joints_list[node_id]->get_global_position()).normalized();
float rot = current.angle_to(target);
if (joints_list[node_id]->get_global_transform().basis_determinant() < 0) {
rot = -rot;
}
joints_list[node_id]->rotate(rot);
}
}
// Set the position
float total_rot = 0.0f;
for (int node_id = joints_list.size() - 1; node_id > 0; node_id--) {
Point2 current = (joints_list[node_id - 1]->get_global_position() - joints_list[node_id]->get_global_position()).normalized();
Point2 target = (joints_pos[node_id - 1] - joints_list[node_id]->get_global_position()).normalized();
float rot = current.angle_to(target);
if (joints_list[node_id]->get_global_transform().basis_determinant() < 0) {
rot = -rot;
}
joints_list[node_id]->rotate(rot);
total_rot += rot;
}
joints_list[0]->rotate(-total_rot);
}
}
@ -1664,7 +1677,7 @@ bool CanvasItemEditor::_gui_input_scale(const Ref<InputEvent> &p_event) {
if (drag_type == DRAG_SCALE_X || drag_type == DRAG_SCALE_Y) {
// Resize the node
if (m.is_valid()) {
_restore_canvas_item_state(drag_selection, true);
_restore_canvas_item_state(drag_selection);
CanvasItem *canvas_item = drag_selection[0];
drag_to = transform.affine_inverse().xform(m->get_position());
@ -1730,6 +1743,15 @@ bool CanvasItemEditor::_gui_input_move(const Ref<InputEvent> &p_event) {
if (drag_type == DRAG_MOVE) {
// Move the nodes
if (m.is_valid()) {
// Save the ik chain for reapplying before IK solve
Vector<List<Dictionary> > all_bones_ik_states;
for (List<CanvasItem *>::Element *E = drag_selection.front(); E; E = E->next()) {
List<Dictionary> bones_ik_states;
_save_canvas_item_ik_chain(E->get(), NULL, &bones_ik_states);
all_bones_ik_states.push_back(bones_ik_states);
}
_restore_canvas_item_state(drag_selection, true);
drag_to = transform.affine_inverse().xform(m->get_position());
@ -1751,6 +1773,7 @@ bool CanvasItemEditor::_gui_input_move(const Ref<InputEvent> &p_event) {
}
bool force_no_IK = m->get_alt();
int index = 0;
for (List<CanvasItem *>::Element *E = drag_selection.front(); E; E = E->next()) {
CanvasItem *canvas_item = E->get();
CanvasItemEditorSelectedItem *se = editor_selection->get_node_editor_data<CanvasItemEditorSelectedItem>(canvas_item);
@ -1758,10 +1781,15 @@ bool CanvasItemEditor::_gui_input_move(const Ref<InputEvent> &p_event) {
Node2D *node2d = Object::cast_to<Node2D>(canvas_item);
if (node2d && se->pre_drag_bones_undo_state.size() > 0 && !force_no_IK) {
real_t initial_leaf_node_rotation = node2d->get_global_transform_with_canvas().get_rotation();
_restore_canvas_item_ik_chain(node2d, &(all_bones_ik_states[index]));
real_t final_leaf_node_rotation = node2d->get_global_transform_with_canvas().get_rotation();
node2d->rotate(initial_leaf_node_rotation - final_leaf_node_rotation);
_solve_IK(node2d, new_pos);
} else {
canvas_item->_edit_set_position(canvas_item->_edit_get_position() + xform.xform(new_pos) - xform.xform(previous_pos));
}
index++;
}
return true;
}
@ -1800,6 +1828,14 @@ bool CanvasItemEditor::_gui_input_move(const Ref<InputEvent> &p_event) {
if (drag_selection.size() > 0) {
// Save the ik chain for reapplying before IK solve
Vector<List<Dictionary> > all_bones_ik_states;
for (List<CanvasItem *>::Element *E = drag_selection.front(); E; E = E->next()) {
List<Dictionary> bones_ik_states;
_save_canvas_item_ik_chain(E->get(), NULL, &bones_ik_states);
all_bones_ik_states.push_back(bones_ik_states);
}
_restore_canvas_item_state(drag_selection, true);
bool move_local_base = k->get_alt();
@ -1845,6 +1881,7 @@ bool CanvasItemEditor::_gui_input_move(const Ref<InputEvent> &p_event) {
new_pos = previous_pos + (drag_to - drag_from);
}
int index = 0;
for (List<CanvasItem *>::Element *E = drag_selection.front(); E; E = E->next()) {
CanvasItem *canvas_item = E->get();
CanvasItemEditorSelectedItem *se = editor_selection->get_node_editor_data<CanvasItemEditorSelectedItem>(canvas_item);
@ -1852,10 +1889,15 @@ bool CanvasItemEditor::_gui_input_move(const Ref<InputEvent> &p_event) {
Node2D *node2d = Object::cast_to<Node2D>(canvas_item);
if (node2d && se->pre_drag_bones_undo_state.size() > 0) {
real_t initial_leaf_node_rotation = node2d->get_global_transform_with_canvas().get_rotation();
_restore_canvas_item_ik_chain(node2d, &(all_bones_ik_states[index]));
real_t final_leaf_node_rotation = node2d->get_global_transform_with_canvas().get_rotation();
node2d->rotate(initial_leaf_node_rotation - final_leaf_node_rotation);
_solve_IK(node2d, new_pos);
} else {
canvas_item->_edit_set_position(canvas_item->_edit_get_position() + xform.xform(new_pos) - xform.xform(previous_pos));
}
index++;
}
}
return true;

2
editor/plugins/canvas_item_editor_plugin.h
View file

@ -375,7 +375,9 @@ private:
void _add_canvas_item(CanvasItem *p_canvas_item);
void _save_canvas_item_ik_chain(const CanvasItem *p_canvas_item, List<float> *p_bones_length, List<Dictionary> *p_bones_state);
void _save_canvas_item_state(List<CanvasItem *> p_canvas_items, bool save_bones = false);
void _restore_canvas_item_ik_chain(CanvasItem *p_canvas_item, const List<Dictionary> *p_bones_state);
void _restore_canvas_item_state(List<CanvasItem *> p_canvas_items, bool restore_bones = false);
void _commit_canvas_item_state(List<CanvasItem *> p_canvas_items, String action_name, bool commit_bones = false);