godot/scene/resources/skeleton_modification_2d_fabrik.h
TwistedTwigleg 8aa3c2f091 New and improved IK system for Skeleton2D
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.
2021-06-05 15:19:51 -04:00

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