godot/scene/2d/skeleton_2d.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_2d.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 SKELETON_2D_H
#define SKELETON_2D_H
#include "scene/2d/node_2d.h"
#include "scene/resources/skeleton_modification_2d.h"
class Skeleton2D;
class Bone2D : public Node2D {
GDCLASS(Bone2D, Node2D);
friend class Skeleton2D;
#ifdef TOOLS_ENABLED
friend class AnimatedValuesBackup;
#endif
Bone2D *parent_bone = nullptr;
Skeleton2D *skeleton = nullptr;
Transform2D rest;
bool autocalculate_length_and_angle = true;
float length = 16;
float bone_angle = 0;
int skeleton_index = -1;
void calculate_length_and_rotation();
#ifdef TOOLS_ENABLED
RID editor_gizmo_rid;
bool _editor_get_bone_shape(Vector<Vector2> *p_shape, Vector<Vector2> *p_outline_shape, Bone2D *p_other_bone);
bool _editor_show_bone_gizmo = true;
#endif // TOOLS ENABLED
protected:
void _notification(int p_what);
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:
Transform2D cache_transform;
bool copy_transform_to_cache = true;
void set_rest(const Transform2D &p_rest);
Transform2D get_rest() const;
void apply_rest();
Transform2D get_skeleton_rest() const;
TypedArray<String> get_configuration_warnings() const override;
void set_default_length(real_t p_length);
real_t get_default_length() const;
void set_autocalculate_length_and_angle(bool p_autocalculate);
bool get_autocalculate_length_and_angle() const;
void set_length(float p_length);
float get_length() const;
void set_bone_angle(float p_angle);
float get_bone_angle() const;
int get_index_in_skeleton() const;
#ifdef TOOLS_ENABLED
void _editor_set_show_bone_gizmo(bool p_show_gizmo);
bool _editor_get_show_bone_gizmo() const;
#endif // TOOLS_ENABLED
Bone2D();
~Bone2D();
};
class SkeletonModificationStack2D;
class Skeleton2D : public Node2D {
GDCLASS(Skeleton2D, Node2D);
friend class Bone2D;
#ifdef TOOLS_ENABLED
friend class AnimatedValuesBackup;
#endif
struct Bone {
bool operator<(const Bone &p_bone) const {
return p_bone.bone->is_greater_than(bone);
}
Bone2D *bone = nullptr;
int parent_index = 0;
Transform2D accum_transform;
Transform2D rest_inverse;
//Transform2D local_pose_cache;
Transform2D local_pose_override;
float local_pose_override_amount = 0;
bool local_pose_override_persistent = false;
};
Vector<Bone> bones;
bool bone_setup_dirty = true;
void _make_bone_setup_dirty();
void _update_bone_setup();
bool transform_dirty = true;
void _make_transform_dirty();
void _update_transform();
RID skeleton;
Ref<SkeletonModificationStack2D> modification_stack;
protected:
void _notification(int p_what);
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:
int get_bone_count() const;
Bone2D *get_bone(int p_idx);
RID get_skeleton() const;
void set_bone_local_pose_override(int p_bone_idx, Transform2D p_override, float p_amount, bool p_persistent = true);
Transform2D get_bone_local_pose_override(int p_bone_idx);
Ref<SkeletonModificationStack2D> get_modification_stack() const;
void set_modification_stack(Ref<SkeletonModificationStack2D> p_stack);
void execute_modifications(float p_delta, int p_execution_mode);
Skeleton2D();
~Skeleton2D();
};
#endif // SKELETON_2D_H