Using codespell 1.15.0. Method: ``` $ cat > ../godot-word-whitelist.txt << EOF ang curvelinear doubleclick leapyear lod merchantibility nd numer ois ony que seeked synching te uint unselect webp EOF $ codespell -w -q 3 -I ../godot-word-whitelist.txt --skip="./thirdparty,*.po" $ git diff // undo unwanted changes ```
220 lines
6.5 KiB
C++
220 lines
6.5 KiB
C++
/*************************************************************************/
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/* skeleton_ik.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef SKELETON_IK_H
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#define SKELETON_IK_H
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#ifndef _3D_DISABLED
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/**
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* @author AndreaCatania
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*/
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#include "core/math/transform.h"
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#include "scene/3d/skeleton.h"
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class FabrikInverseKinematic {
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struct EndEffector {
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BoneId tip_bone;
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Transform goal_transform;
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};
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struct ChainItem {
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Vector<ChainItem> children;
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ChainItem *parent_item;
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// Bone info
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BoneId bone;
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PhysicalBone *pb;
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real_t length;
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/// Positions relative to root bone
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Transform initial_transform;
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Vector3 current_pos;
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// Direction from this bone to child
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Vector3 current_ori;
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ChainItem() :
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parent_item(NULL),
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bone(-1),
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pb(NULL),
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length(0) {}
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ChainItem *find_child(const BoneId p_bone_id);
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ChainItem *add_child(const BoneId p_bone_id);
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};
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struct ChainTip {
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ChainItem *chain_item;
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const EndEffector *end_effector;
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ChainTip() :
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chain_item(NULL),
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end_effector(NULL) {}
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ChainTip(ChainItem *p_chain_item, const EndEffector *p_end_effector) :
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chain_item(p_chain_item),
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end_effector(p_end_effector) {}
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ChainTip(const ChainTip &p_other_ct) :
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chain_item(p_other_ct.chain_item),
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end_effector(p_other_ct.end_effector) {}
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};
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struct Chain {
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ChainItem chain_root;
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ChainItem *middle_chain_item;
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Vector<ChainTip> tips;
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Vector3 magnet_position;
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};
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public:
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struct Task : public RID_Data {
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RID self;
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Skeleton *skeleton;
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Chain chain;
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// Settings
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real_t min_distance;
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int max_iterations;
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// Bone data
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BoneId root_bone;
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Vector<EndEffector> end_effectors;
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Transform goal_global_transform;
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Task() :
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skeleton(NULL),
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min_distance(0.01),
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max_iterations(10),
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root_bone(-1) {}
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};
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private:
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/// Init a chain that starts from the root to tip
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static bool build_chain(Task *p_task, bool p_force_simple_chain = true);
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static void update_chain(const Skeleton *p_sk, ChainItem *p_chain_item);
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static void solve_simple(Task *p_task, bool p_solve_magnet);
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/// Special solvers that solve only chains with one end effector
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static void solve_simple_backwards(Chain &r_chain, bool p_solve_magnet);
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static void solve_simple_forwards(Chain &r_chain, bool p_solve_magnet);
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public:
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static Task *create_simple_task(Skeleton *p_sk, BoneId root_bone, BoneId tip_bone, const Transform &goal_transform);
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static void free_task(Task *p_task);
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// The goal of chain should be always in local space
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static void set_goal(Task *p_task, const Transform &p_goal);
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static void make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta);
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static void solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position);
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};
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class SkeletonIK : public Node {
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GDCLASS(SkeletonIK, Node);
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StringName root_bone;
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StringName tip_bone;
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real_t interpolation;
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Transform target;
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NodePath target_node_path_override;
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bool override_tip_basis;
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bool use_magnet;
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Vector3 magnet_position;
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real_t min_distance;
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int max_iterations;
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Skeleton *skeleton;
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Spatial *target_node_override;
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FabrikInverseKinematic::Task *task;
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protected:
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virtual void
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_validate_property(PropertyInfo &property) const;
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static void _bind_methods();
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virtual void _notification(int p_notification);
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public:
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SkeletonIK();
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virtual ~SkeletonIK();
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void set_root_bone(const StringName &p_root_bone);
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StringName get_root_bone() const;
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void set_tip_bone(const StringName &p_tip_bone);
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StringName get_tip_bone() const;
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void set_interpolation(real_t p_interpolation);
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real_t get_interpolation() const;
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void set_target_transform(const Transform &p_target);
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const Transform &get_target_transform() const;
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void set_target_node(const NodePath &p_node);
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NodePath get_target_node();
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void set_override_tip_basis(bool p_override);
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bool is_override_tip_basis() const;
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void set_use_magnet(bool p_use);
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bool is_using_magnet() const;
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void set_magnet_position(const Vector3 &p_constraint);
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const Vector3 &get_magnet_position() const;
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void set_min_distance(real_t p_min_distance);
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real_t get_min_distance() const { return min_distance; }
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void set_max_iterations(int p_iterations);
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int get_max_iterations() const { return max_iterations; }
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Skeleton *get_parent_skeleton() const { return skeleton; }
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bool is_running();
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void start(bool p_one_time = false);
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void stop();
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private:
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Transform _get_target_transform();
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void reload_chain();
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void reload_goal();
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void _solve_chain();
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};
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#endif // _3D_DISABLED
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#endif // SKELETON_IK_H
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