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godot/scene/resources/skeleton_modification_3d_ccdik.cpp
TwistedTwigleg 5ffed49907 New and improved IK system for Skeleton3D 
This PR and commit adds a new IK system for 3D with the Skeleton3D node
that adds several new IK solvers, as well as additional changes and functionality
for making bone manipulation in Godot easier.

This work was sponsored by GSoC 2020 and TwistedTwigleg

Full list of changes:
* Adds a SkeletonModification3D resource
  * This resource is the base where all IK code is written and executed
* Adds a SkeletonModificationStack3D resource
  * This node oversees the execution of the modifications and acts as a bridge of sorts for the modifications to the Skeleton3D node
* Adds SkeletonModification3D resources for LookAt, CCDIK, FABRIK, Jiggle, and TwoBoneIK
  * Each modification is in it's own file
* Several changes to Skeletons, listed below:
  * Added local_pose_override, which acts just like global_pose_override but keeps bone-child relationships intract
    * So if you move a bone using local_pose_override, all of the bones that are children will also be moved. This is different than global_pose_override, which only affects the individual bone
  * Internally bones keep track of their children. This removes the need of a processing list, makes it possible to update just a few select bones at a time, and makes it easier to traverse down the bone chain
  * Additional functions added for converting from world transform to global poses, global poses to local poses, and all the same changes but backwards (local to global, global to world). This makes it much easier to work with bone transforms without needing to think too much about how to convert them.
  * New signal added, bone_pose_changed, that can be used to tell if a specific bone changed its transform. Needed for BoneAttachment3D
  * Added functions for getting the forward position of a bone
* BoneAttachment3D node refactored heavily
  * BoneAttachment3D node is now completely standalone in its functionality.
    * This makes the code easier and less interconnected, as well as allowing them to function properly without being direct children of Skeleton3D nodes
  * BoneAttachment3D now can be set either using the index or the bone name.
  * BoneAttachment3D nodes can now set the bone transform instead of just following it. This is disabled by default for compatibility
  * BoneAttachment3D now shows a warning when not configured correctly
* Added rotate_to_align function in Basis
* Added class reference documentation for all changes
2021-08-14 15:57:00 -04:00

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/*************************************************************************/
/* skeleton_modification_3d_ccdik.cpp */
/*************************************************************************/
/* 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. */
/*************************************************************************/
#include "scene/resources/skeleton_modification_3d_ccdik.h"
#include "scene/3d/skeleton_3d.h"
#include "scene/resources/skeleton_modification_3d.h"
bool SkeletonModification3DCCDIK::_set(const StringName &p_path, const Variant &p_value) {
String path = p_path;
if (path.begins_with("joint_data/")) {
int ccdik_data_size = ccdik_data_chain.size();
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, ccdik_data_size, false);
if (what == "bone_name") {
set_ccdik_joint_bone_name(which, p_value);
} else if (what == "bone_index") {
set_ccdik_joint_bone_index(which, p_value);
} else if (what == "ccdik_axis") {
set_ccdik_joint_ccdik_axis(which, p_value);
} else if (what == "enable_joint_constraint") {
set_ccdik_joint_enable_constraint(which, p_value);
} else if (what == "joint_constraint_angle_min") {
set_ccdik_joint_constraint_angle_min(which, Math::deg2rad(real_t(p_value)));
} else if (what == "joint_constraint_angle_max") {
set_ccdik_joint_constraint_angle_max(which, Math::deg2rad(real_t(p_value)));
} else if (what == "joint_constraint_angles_invert") {
set_ccdik_joint_constraint_invert(which, p_value);
}
return true;
}
return true;
}
bool SkeletonModification3DCCDIK::_get(const StringName &p_path, Variant &r_ret) const {
String path = p_path;
if (path.begins_with("joint_data/")) {
const int ccdik_data_size = ccdik_data_chain.size();
int which = path.get_slicec('/', 1).to_int();
String what = path.get_slicec('/', 2);
ERR_FAIL_INDEX_V(which, ccdik_data_size, false);
if (what == "bone_name") {
r_ret = get_ccdik_joint_bone_name(which);
} else if (what == "bone_index") {
r_ret = get_ccdik_joint_bone_index(which);
} else if (what == "ccdik_axis") {
r_ret = get_ccdik_joint_ccdik_axis(which);
} else if (what == "enable_joint_constraint") {
r_ret = get_ccdik_joint_enable_constraint(which);
} else if (what == "joint_constraint_angle_min") {
r_ret = Math::rad2deg(get_ccdik_joint_constraint_angle_min(which));
} else if (what == "joint_constraint_angle_max") {
r_ret = Math::rad2deg(get_ccdik_joint_constraint_angle_max(which));
} else if (what == "joint_constraint_angles_invert") {
r_ret = get_ccdik_joint_constraint_invert(which);
}
return true;
}
return true;
}
void SkeletonModification3DCCDIK::_get_property_list(List<PropertyInfo> *p_list) const {
for (uint32_t i = 0; i < ccdik_data_chain.size(); i++) {
String base_string = "joint_data/" + itos(i) + "/";
p_list->push_back(PropertyInfo(Variant::STRING_NAME, base_string + "bone_name", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::INT, base_string + "bone_index", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::INT, base_string + "ccdik_axis",
PROPERTY_HINT_ENUM, "X Axis, Y Axis, Z Axis", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "enable_joint_constraint", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
if (ccdik_data_chain[i].enable_constraint) {
p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "joint_constraint_angle_min", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::FLOAT, base_string + "joint_constraint_angle_max", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
p_list->push_back(PropertyInfo(Variant::BOOL, base_string + "joint_constraint_angles_invert", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_DEFAULT));
}
}
}
void SkeletonModification3DCCDIK::_execute(real_t p_delta) {
ERR_FAIL_COND_MSG(!stack || !is_setup || stack->skeleton == nullptr,
"Modification is not setup and therefore cannot execute!");
if (!enabled) {
return;
}
if (target_node_cache.is_null()) {
_print_execution_error(true, "Target cache is out of date. Attempting to update");
update_target_cache();
return;
}
if (tip_node_cache.is_null()) {
_print_execution_error(true, "Tip cache is out of date. Attempting to update");
update_tip_cache();
return;
}
// Reset the local bone overrides for CCDIK affected nodes
for (uint32_t i = 0; i < ccdik_data_chain.size(); i++) {
stack->skeleton->set_bone_local_pose_override(ccdik_data_chain[i].bone_idx,
stack->skeleton->get_bone_local_pose_override(ccdik_data_chain[i].bone_idx),
0.0, false);
}
Node3D *node_target = Object::cast_to<Node3D>(ObjectDB::get_instance(target_node_cache));
Node3D *node_tip = Object::cast_to<Node3D>(ObjectDB::get_instance(tip_node_cache));
if (_print_execution_error(!node_target || !node_target->is_inside_tree(), "Target node is not in the scene tree. Cannot execute modification!")) {
return;
}
if (_print_execution_error(!node_tip || !node_tip->is_inside_tree(), "Tip node is not in the scene tree. Cannot execute modification!")) {
return;
}
if (use_high_quality_solve) {
for (uint32_t i = 0; i < ccdik_data_chain.size(); i++) {
for (uint32_t j = i; j < ccdik_data_chain.size(); j++) {
_execute_ccdik_joint(j, node_target, node_tip);
}
}
} else {
for (uint32_t i = 0; i < ccdik_data_chain.size(); i++) {
_execute_ccdik_joint(i, node_target, node_tip);
}
}
execution_error_found = false;
}
void SkeletonModification3DCCDIK::_execute_ccdik_joint(int p_joint_idx, Node3D *p_target, Node3D *p_tip) {
CCDIK_Joint_Data ccdik_data = ccdik_data_chain[p_joint_idx];
if (_print_execution_error(ccdik_data.bone_idx < 0 || ccdik_data.bone_idx > stack->skeleton->get_bone_count(),
"CCDIK joint: bone index for joint" + itos(p_joint_idx) + " not found. Cannot execute modification!")) {
return;
}
Transform3D bone_trans = stack->skeleton->global_pose_to_local_pose(ccdik_data.bone_idx, stack->skeleton->get_bone_global_pose(ccdik_data.bone_idx));
Transform3D tip_trans = stack->skeleton->global_pose_to_local_pose(ccdik_data.bone_idx, stack->skeleton->world_transform_to_global_pose(p_tip->get_global_transform()));
Transform3D target_trans = stack->skeleton->global_pose_to_local_pose(ccdik_data.bone_idx, stack->skeleton->world_transform_to_global_pose(p_target->get_global_transform()));
if (tip_trans.origin.distance_to(target_trans.origin) <= 0.01) {
return;
}
// Inspired (and very loosely based on) by the CCDIK algorithm made by Zalo on GitHub (https://github.com/zalo/MathUtilities)
// Convert the 3D position to a 2D position so we can use Atan2 (via the angle function)
// to know how much rotation we need on the given axis to place the tip at the target.
Vector2 tip_pos_2d;
Vector2 target_pos_2d;
if (ccdik_data.ccdik_axis == CCDIK_Axes::AXIS_X) {
tip_pos_2d = Vector2(tip_trans.origin.y, tip_trans.origin.z);
target_pos_2d = Vector2(target_trans.origin.y, target_trans.origin.z);
bone_trans.basis.rotate_local(Vector3(1, 0, 0), target_pos_2d.angle() - tip_pos_2d.angle());
} else if (ccdik_data.ccdik_axis == CCDIK_Axes::AXIS_Y) {
tip_pos_2d = Vector2(tip_trans.origin.z, tip_trans.origin.x);
target_pos_2d = Vector2(target_trans.origin.z, target_trans.origin.x);
bone_trans.basis.rotate_local(Vector3(0, 1, 0), target_pos_2d.angle() - tip_pos_2d.angle());
} else if (ccdik_data.ccdik_axis == CCDIK_Axes::AXIS_Z) {
tip_pos_2d = Vector2(tip_trans.origin.x, tip_trans.origin.y);
target_pos_2d = Vector2(target_trans.origin.x, target_trans.origin.y);
bone_trans.basis.rotate_local(Vector3(0, 0, 1), target_pos_2d.angle() - tip_pos_2d.angle());
} else {
// Should never happen, but...
ERR_FAIL_MSG("CCDIK joint: Unknown axis vector passed for joint" + itos(p_joint_idx) + ". Cannot execute modification!");
}
if (ccdik_data.enable_constraint) {
Vector3 rotation_axis;
real_t rotation_angle;
bone_trans.basis.get_axis_angle(rotation_axis, rotation_angle);
// Note: When the axis has a negative direction, the angle is OVER 180 degrees and therefore we need to account for this
// when constraining.
if (ccdik_data.ccdik_axis == CCDIK_Axes::AXIS_X) {
if (rotation_axis.x < 0) {
rotation_angle += Math_PI;
rotation_axis = Vector3(1, 0, 0);
}
} else if (ccdik_data.ccdik_axis == CCDIK_Axes::AXIS_Y) {
if (rotation_axis.y < 0) {
rotation_angle += Math_PI;
rotation_axis = Vector3(0, 1, 0);
}
} else if (ccdik_data.ccdik_axis == CCDIK_Axes::AXIS_Z) {
if (rotation_axis.z < 0) {
rotation_angle += Math_PI;
rotation_axis = Vector3(0, 0, 1);
}
} else {
// Should never happen, but...
ERR_FAIL_MSG("CCDIK joint: Unknown axis vector passed for joint" + itos(p_joint_idx) + ". Cannot execute modification!");
}
rotation_angle = clamp_angle(rotation_angle, ccdik_data.constraint_angle_min, ccdik_data.constraint_angle_max, ccdik_data.constraint_angles_invert);
bone_trans.basis.set_axis_angle(rotation_axis, rotation_angle);
}
stack->skeleton->set_bone_local_pose_override(ccdik_data.bone_idx, bone_trans, stack->strength, true);
stack->skeleton->force_update_bone_children_transforms(ccdik_data.bone_idx);
}
void SkeletonModification3DCCDIK::_setup_modification(SkeletonModificationStack3D *p_stack) {
stack = p_stack;
if (stack != nullptr) {
is_setup = true;
execution_error_found = false;
update_target_cache();
update_tip_cache();
}
}
void SkeletonModification3DCCDIK::update_target_cache() {
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update target cache: modification is not properly setup!");
return;
}
target_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(target_node)) {
Node *node = stack->skeleton->get_node(target_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update target cache: node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update target cache: node is not in scene tree!");
target_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DCCDIK::update_tip_cache() {
if (!is_setup || !stack) {
_print_execution_error(true, "Cannot update tip cache: modification is not properly setup!");
return;
}
tip_node_cache = ObjectID();
if (stack->skeleton) {
if (stack->skeleton->is_inside_tree()) {
if (stack->skeleton->has_node(tip_node)) {
Node *node = stack->skeleton->get_node(tip_node);
ERR_FAIL_COND_MSG(!node || stack->skeleton == node,
"Cannot update tip cache: node is this modification's skeleton or cannot be found!");
ERR_FAIL_COND_MSG(!node->is_inside_tree(),
"Cannot update tip cache: node is not in scene tree!");
tip_node_cache = node->get_instance_id();
execution_error_found = false;
}
}
}
}
void SkeletonModification3DCCDIK::set_target_node(const NodePath &p_target_node) {
target_node = p_target_node;
update_target_cache();
}
NodePath SkeletonModification3DCCDIK::get_target_node() const {
return target_node;
}
void SkeletonModification3DCCDIK::set_tip_node(const NodePath &p_tip_node) {
tip_node = p_tip_node;
update_tip_cache();
}
NodePath SkeletonModification3DCCDIK::get_tip_node() const {
return tip_node;
}
void SkeletonModification3DCCDIK::set_use_high_quality_solve(bool p_high_quality) {
use_high_quality_solve = p_high_quality;
}
bool SkeletonModification3DCCDIK::get_use_high_quality_solve() const {
return use_high_quality_solve;
}
// CCDIK joint data functions
String SkeletonModification3DCCDIK::get_ccdik_joint_bone_name(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, String());
return ccdik_data_chain[p_joint_idx].bone_name;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_bone_name(int p_joint_idx, String p_bone_name) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ccdik_data_chain[p_joint_idx].bone_name = p_bone_name;
if (stack) {
if (stack->skeleton) {
ccdik_data_chain[p_joint_idx].bone_idx = stack->skeleton->find_bone(p_bone_name);
}
}
execution_error_found = false;
notify_property_list_changed();
}
int SkeletonModification3DCCDIK::get_ccdik_joint_bone_index(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, -1);
return ccdik_data_chain[p_joint_idx].bone_idx;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_bone_index(int p_joint_idx, int p_bone_idx) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ERR_FAIL_COND_MSG(p_bone_idx < 0, "Bone index is out of range: The index is too low!");
ccdik_data_chain[p_joint_idx].bone_idx = p_bone_idx;
if (stack) {
if (stack->skeleton) {
ccdik_data_chain[p_joint_idx].bone_name = stack->skeleton->get_bone_name(p_bone_idx);
}
}
execution_error_found = false;
notify_property_list_changed();
}
int SkeletonModification3DCCDIK::get_ccdik_joint_ccdik_axis(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, -1);
return ccdik_data_chain[p_joint_idx].ccdik_axis;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_ccdik_axis(int p_joint_idx, int p_axis) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ERR_FAIL_COND_MSG(p_axis < 0, "CCDIK axis is out of range: The axis mode is too low!");
ccdik_data_chain[p_joint_idx].ccdik_axis = p_axis;
notify_property_list_changed();
}
bool SkeletonModification3DCCDIK::get_ccdik_joint_enable_constraint(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return ccdik_data_chain[p_joint_idx].enable_constraint;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_enable_constraint(int p_joint_idx, bool p_enable) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ccdik_data_chain[p_joint_idx].enable_constraint = p_enable;
notify_property_list_changed();
}
real_t SkeletonModification3DCCDIK::get_ccdik_joint_constraint_angle_min(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return ccdik_data_chain[p_joint_idx].constraint_angle_min;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_constraint_angle_min(int p_joint_idx, real_t p_angle_min) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ccdik_data_chain[p_joint_idx].constraint_angle_min = p_angle_min;
}
real_t SkeletonModification3DCCDIK::get_ccdik_joint_constraint_angle_max(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return ccdik_data_chain[p_joint_idx].constraint_angle_max;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_constraint_angle_max(int p_joint_idx, real_t p_angle_max) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ccdik_data_chain[p_joint_idx].constraint_angle_max = p_angle_max;
}
bool SkeletonModification3DCCDIK::get_ccdik_joint_constraint_invert(int p_joint_idx) const {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX_V(p_joint_idx, bone_chain_size, false);
return ccdik_data_chain[p_joint_idx].constraint_angles_invert;
}
void SkeletonModification3DCCDIK::set_ccdik_joint_constraint_invert(int p_joint_idx, bool p_invert) {
const int bone_chain_size = ccdik_data_chain.size();
ERR_FAIL_INDEX(p_joint_idx, bone_chain_size);
ccdik_data_chain[p_joint_idx].constraint_angles_invert = p_invert;
}
int SkeletonModification3DCCDIK::get_ccdik_data_chain_length() {
return ccdik_data_chain.size();
}
void SkeletonModification3DCCDIK::set_ccdik_data_chain_length(int p_length) {
ERR_FAIL_COND(p_length < 0);
ccdik_data_chain.resize(p_length);
execution_error_found = false;
notify_property_list_changed();
}
void SkeletonModification3DCCDIK::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_node", "target_nodepath"), &SkeletonModification3DCCDIK::set_target_node);
ClassDB::bind_method(D_METHOD("get_target_node"), &SkeletonModification3DCCDIK::get_target_node);
ClassDB::bind_method(D_METHOD("set_tip_node", "tip_nodepath"), &SkeletonModification3DCCDIK::set_tip_node);
ClassDB::bind_method(D_METHOD("get_tip_node"), &SkeletonModification3DCCDIK::get_tip_node);
ClassDB::bind_method(D_METHOD("set_use_high_quality_solve", "high_quality_solve"), &SkeletonModification3DCCDIK::set_use_high_quality_solve);
ClassDB::bind_method(D_METHOD("get_use_high_quality_solve"), &SkeletonModification3DCCDIK::get_use_high_quality_solve);
// CCDIK joint data functions
ClassDB::bind_method(D_METHOD("get_ccdik_joint_bone_name", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_bone_name);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_bone_name", "joint_idx", "bone_name"), &SkeletonModification3DCCDIK::set_ccdik_joint_bone_name);
ClassDB::bind_method(D_METHOD("get_ccdik_joint_bone_index", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_bone_index);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_bone_index", "joint_idx", "bone_index"), &SkeletonModification3DCCDIK::set_ccdik_joint_bone_index);
ClassDB::bind_method(D_METHOD("get_ccdik_joint_ccdik_axis", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_ccdik_axis);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_ccdik_axis", "joint_idx", "axis"), &SkeletonModification3DCCDIK::set_ccdik_joint_ccdik_axis);
ClassDB::bind_method(D_METHOD("get_ccdik_joint_enable_joint_constraint", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_enable_constraint);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_enable_joint_constraint", "joint_idx", "enable"), &SkeletonModification3DCCDIK::set_ccdik_joint_enable_constraint);
ClassDB::bind_method(D_METHOD("get_ccdik_joint_constraint_angle_min", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_constraint_angle_min);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_constraint_angle_min", "joint_idx", "min_angle"), &SkeletonModification3DCCDIK::set_ccdik_joint_constraint_angle_min);
ClassDB::bind_method(D_METHOD("get_ccdik_joint_constraint_angle_max", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_constraint_angle_max);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_constraint_angle_max", "joint_idx", "max_angle"), &SkeletonModification3DCCDIK::set_ccdik_joint_constraint_angle_max);
ClassDB::bind_method(D_METHOD("get_ccdik_joint_constraint_invert", "joint_idx"), &SkeletonModification3DCCDIK::get_ccdik_joint_constraint_invert);
ClassDB::bind_method(D_METHOD("set_ccdik_joint_constraint_invert", "joint_idx", "invert"), &SkeletonModification3DCCDIK::set_ccdik_joint_constraint_invert);
ClassDB::bind_method(D_METHOD("set_ccdik_data_chain_length", "length"), &SkeletonModification3DCCDIK::set_ccdik_data_chain_length);
ClassDB::bind_method(D_METHOD("get_ccdik_data_chain_length"), &SkeletonModification3DCCDIK::get_ccdik_data_chain_length);
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "set_target_node", "get_target_node");
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "tip_nodepath", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Node3D"), "set_tip_node", "get_tip_node");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "high_quality_solve", PROPERTY_HINT_NONE, ""), "set_use_high_quality_solve", "get_use_high_quality_solve");
ADD_PROPERTY(PropertyInfo(Variant::INT, "ccdik_data_chain_length", PROPERTY_HINT_RANGE, "0,100,1"), "set_ccdik_data_chain_length", "get_ccdik_data_chain_length");
}
SkeletonModification3DCCDIK::SkeletonModification3DCCDIK() {
stack = nullptr;
is_setup = false;
enabled = true;
}
SkeletonModification3DCCDIK::~SkeletonModification3DCCDIK() {
}
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