I don't already know how the fuck it works, but it is. A bit slow currently, but hope to improve it soon. The current limitations: 1. No constraints. At all. 2. Used simplest CCD algorithm, I just can't believe in jacobian construction from code. 3. Slow to get to target.
69 lines
3 KiB
C++
69 lines
3 KiB
C++
/*************************************************************************/
|
|
/* ik.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
|
|
/* This file is (c) 2016 Sergey Lapin <slapinid@gmail.com> */
|
|
/* */
|
|
/* 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 IK_H
|
|
#define IK_H
|
|
|
|
#include "scene/3d/skeleton.h"
|
|
class InverseKinematics : public Spatial {
|
|
OBJ_TYPE(InverseKinematics, Spatial);
|
|
bool bound;
|
|
String ik_bone;
|
|
int ik_bone_no;
|
|
int tail_bone;
|
|
int chain_size;
|
|
Skeleton *skel;
|
|
List<int> chain;
|
|
void _check_bind();
|
|
void _check_unbind();
|
|
int iterations;
|
|
float precision;
|
|
|
|
protected:
|
|
bool _set(const StringName& p_name, const Variant& p_value);
|
|
bool _get(const StringName& p_name,Variant &r_ret) const;
|
|
void _get_property_list( List<PropertyInfo> *p_list) const;
|
|
|
|
void _notification(int p_what);
|
|
static void _bind_methods();
|
|
public:
|
|
Skeleton *get_skeleton();
|
|
void set_bone_name(const String& p_name);
|
|
String get_bone_name() const;
|
|
void set_iterations(int itn);
|
|
int get_iterations() const;
|
|
void set_chain_size(int cs);
|
|
int get_chain_size() const;
|
|
void set_precision(float p);
|
|
float get_precision() const;
|
|
InverseKinematics();
|
|
};
|
|
|
|
#endif
|
|
|