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godot/scene/resources/skeleton_modification_3d_jiggle.h
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_jiggle.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. */
/*************************************************************************/
#include "core/templates/local_vector.h"
#include "scene/3d/skeleton_3d.h"
#include "scene/resources/skeleton_modification_3d.h"
#ifndef SKELETONMODIFICATION3DJIGGLE_H
#define SKELETONMODIFICATION3DJIGGLE_H
class SkeletonModification3DJiggle : public SkeletonModification3D {
GDCLASS(SkeletonModification3DJiggle, SkeletonModification3D);
private:
struct Jiggle_Joint_Data {
String bone_name = "";
int bone_idx = -1;
bool override_defaults = false;
real_t stiffness = 3;
real_t mass = 0.75;
real_t damping = 0.75;
bool use_gravity = false;
Vector3 gravity = Vector3(0, -6.0, 0);
real_t roll = 0;
Vector3 cached_rotation = Vector3(0, 0, 0);
Vector3 force = Vector3(0, 0, 0);
Vector3 acceleration = Vector3(0, 0, 0);
Vector3 velocity = Vector3(0, 0, 0);
Vector3 last_position = Vector3(0, 0, 0);
Vector3 dynamic_position = Vector3(0, 0, 0);
Vector3 last_noncollision_position = Vector3(0, 0, 0);
};
NodePath target_node;
ObjectID target_node_cache;
LocalVector<Jiggle_Joint_Data> jiggle_data_chain;
real_t stiffness = 3;
real_t mass = 0.75;
real_t damping = 0.75;
bool use_gravity = false;
Vector3 gravity = Vector3(0, -6.0, 0);
bool use_colliders = false;
uint32_t collision_mask = 1;
void update_cache();
void _execute_jiggle_joint(int p_joint_idx, Node3D *p_target, real_t p_delta);
void _update_jiggle_joint_data();
protected:
static void _bind_methods();
bool _get(const StringName &p_path, Variant &r_ret) const;
bool _set(const StringName &p_path, const Variant &p_value);
void _get_property_list(List<PropertyInfo> *p_list) const;
public:
virtual void _execute(real_t p_delta) override;
virtual void _setup_modification(SkeletonModificationStack3D *p_stack) override;
void set_target_node(const NodePath &p_target_node);
NodePath get_target_node() const;
void set_stiffness(real_t p_stiffness);
real_t get_stiffness() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
void set_damping(real_t p_damping);
real_t get_damping() const;
void set_use_gravity(bool p_use_gravity);
bool get_use_gravity() const;
void set_gravity(Vector3 p_gravity);
Vector3 get_gravity() const;
void set_use_colliders(bool p_use_colliders);
bool get_use_colliders() const;
void set_collision_mask(int p_mask);
int get_collision_mask() const;
int get_jiggle_data_chain_length();
void set_jiggle_data_chain_length(int p_new_length);
void set_jiggle_joint_bone_name(int p_joint_idx, String p_name);
String get_jiggle_joint_bone_name(int p_joint_idx) const;
void set_jiggle_joint_bone_index(int p_joint_idx, int p_idx);
int get_jiggle_joint_bone_index(int p_joint_idx) const;
void set_jiggle_joint_override(int p_joint_idx, bool p_override);
bool get_jiggle_joint_override(int p_joint_idx) const;
void set_jiggle_joint_stiffness(int p_joint_idx, real_t p_stiffness);
real_t get_jiggle_joint_stiffness(int p_joint_idx) const;
void set_jiggle_joint_mass(int p_joint_idx, real_t p_mass);
real_t get_jiggle_joint_mass(int p_joint_idx) const;
void set_jiggle_joint_damping(int p_joint_idx, real_t p_damping);
real_t get_jiggle_joint_damping(int p_joint_idx) const;
void set_jiggle_joint_use_gravity(int p_joint_idx, bool p_use_gravity);
bool get_jiggle_joint_use_gravity(int p_joint_idx) const;
void set_jiggle_joint_gravity(int p_joint_idx, Vector3 p_gravity);
Vector3 get_jiggle_joint_gravity(int p_joint_idx) const;
void set_jiggle_joint_roll(int p_joint_idx, real_t p_roll);
real_t get_jiggle_joint_roll(int p_joint_idx) const;
SkeletonModification3DJiggle();
~SkeletonModification3DJiggle();
};
#endif //SKELETONMODIFICATION3DJIGGLE_H
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