godot/core/math
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
..
a_star.cpp Astar::get_available_point_id Start from 0 2021-05-22 11:44:34 +02:00
a_star.h Rename Reference to RefCounted 2021-06-11 18:48:42 +02:00
aabb.cpp Reformat structure string operators 2021-06-11 10:53:20 -04:00
aabb.h Type consistencies in core 2021-01-26 13:04:22 -05:00
audio_frame.h Make audio bus channels' peak volume consistent 2021-02-02 11:30:32 +01:00
basis.cpp New and improved IK system for Skeleton3D 2021-08-14 15:57:00 -04:00
basis.h New and improved IK system for Skeleton3D 2021-08-14 15:57:00 -04:00
bvh.h Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_abb.h Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_cull.inc Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_debug.inc Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_integrity.inc Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_logic.inc BVH - fix stale current_tree in deactivate function [4.x] 2021-05-29 18:03:43 +01:00
bvh_misc.inc Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_pair.inc Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_public.inc BVH - fix stale current_tree in deactivate function [4.x] 2021-05-29 18:03:43 +01:00
bvh_refit.inc BVH - fix stale current_tree in deactivate function [4.x] 2021-05-29 18:03:43 +01:00
bvh_split.inc Dynamic BVH broadphase in 2D & 3D Godot Physics 2021-05-10 16:28:55 -07:00
bvh_structs.inc BVH - fix stale current_tree in deactivate function [4.x] 2021-05-29 18:03:43 +01:00
bvh_tree.h BVH - fix stale current_tree in deactivate function [4.x] 2021-05-29 18:03:43 +01:00
camera_matrix.cpp Rename Transform to Transform3D in core 2021-06-03 07:30:01 -04:00
camera_matrix.h Rename files and the exposed name for Transform3D 2021-06-03 07:30:01 -04:00
color.cpp Merge pull request #34668 from aaronfranke/to-string 2021-06-13 11:58:24 +02:00
color.h Allow clamping vectors and colors 2021-06-03 12:05:20 -04:00
color_names.inc Rename color constants (alternative) 2021-01-26 19:07:00 +03:00
convex_hull.cpp Replace QuickHull with Bullet's convex hull computer. 2021-05-22 22:35:42 +02:00
convex_hull.h Replace QuickHull with Bullet's convex hull computer. 2021-05-22 22:35:42 +02:00
delaunay_2d.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
delaunay_3d.h Use C++ iterators for Lists in many situations 2021-07-23 17:38:28 -04:00
disjoint_set.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
dynamic_bvh.cpp Use the standard C INFINITY and NAN constants directly 2021-07-21 10:41:08 +02:00
dynamic_bvh.h Core: Drop custom copymem/zeromem defines 2021-04-27 16:26:27 +02:00
expression.cpp Use the standard C INFINITY and NAN constants directly 2021-07-21 10:41:08 +02:00
expression.h Rename Reference to RefCounted 2021-06-11 18:48:42 +02:00
face3.cpp Rename Transform to Transform3D in core 2021-06-03 07:30:01 -04:00
face3.h Fix various typos with codespell 2021-07-25 11:21:51 +02:00
geometry_2d.cpp Core: Drop custom copymem/zeromem defines 2021-04-27 16:26:27 +02:00
geometry_2d.h Fix some unnecessary includes 2021-08-13 00:27:38 -05:00
geometry_3d.cpp Fix unchecked array access in build_*_planes 2021-02-22 16:32:51 +01:00
geometry_3d.h Fix various typos with codespell 2021-07-25 11:21:51 +02:00
math_defs.h [Text Server] Improve object (image/table) inline alignment. 2021-08-08 22:35:47 +03:00
math_fieldwise.cpp Rename Quat to Quaternion 2021-06-04 18:14:32 +01:00
math_fieldwise.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
math_funcs.cpp Remove obsolete "dectime" method 2021-07-30 16:41:28 -05:00
math_funcs.h Remove obsolete "dectime" method 2021-07-30 16:41:28 -05:00
octree.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
plane.cpp Reformat structure string operators 2021-06-11 10:53:20 -04:00
plane.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
quaternion.cpp Add Quaternion angle_to method 2021-06-17 23:57:00 -04:00
quaternion.h Add Quaternion angle_to method 2021-06-17 23:57:00 -04:00
quick_hull.cpp Use const references where possible for List range iterators 2021-07-25 12:22:25 +02:00
quick_hull.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
random_number_generator.cpp Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
random_number_generator.h Rename Reference to RefCounted 2021-06-11 18:48:42 +02:00
random_pcg.cpp Cast Unix time to uint in the randomize function 2021-05-03 11:08:39 -03:00
random_pcg.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
rect2.cpp Reformat structure string operators 2021-06-11 10:53:20 -04:00
rect2.h Reformat structure string operators 2021-06-11 10:53:20 -04:00
SCsub SCons: Format buildsystem files with psf/black 2020-03-30 09:05:53 +02:00
transform_2d.cpp Allow multiplying Transforms and Basis by numbers 2021-06-15 22:26:29 -04:00
transform_2d.h Allow multiplying Transforms and Basis by numbers 2021-06-15 22:26:29 -04:00
transform_3d.cpp Move code for looking_at to Basis 2021-08-01 12:49:02 -05:00
transform_3d.h Fix Transform::xform(Plane) functions 2021-08-07 11:10:50 +01:00
triangle_mesh.cpp Node3D gizmo improvements 2021-07-23 21:01:10 +02:00
triangle_mesh.h Rename Reference to RefCounted 2021-06-11 18:48:42 +02:00
triangulate.cpp Fixes small typos and grammar correction 2021-03-12 19:05:16 +05:30
triangulate.h Update copyright statements to 2021 2021-01-01 20:19:21 +01:00
vector2.cpp Reformat structure string operators 2021-06-11 10:53:20 -04:00
vector2.h Add min_axis and max_axis to Vector2i 2021-07-21 12:29:51 +02:00
vector3.cpp Reformat structure string operators 2021-06-11 10:53:20 -04:00
vector3.h Allow clamping vectors and colors 2021-06-03 12:05:20 -04:00
vector3i.cpp Reformat structure string operators 2021-06-11 10:53:20 -04:00
vector3i.h Allow clamping vectors and colors 2021-06-03 12:05:20 -04:00