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Add mutable_bone_axes to IKs

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Silc Lizard (Tokage) Renew 2025-11-15 06:17:24 +09:00
parent ef34c3d534
commit 031fd66fed
18 changed files with 760 additions and 155 deletions
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39
scene/3d/iterate_ik_3d.h
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@ -228,6 +228,38 @@ public:
cache_current_vectors(p_skeleton);
}
void init_joints(Skeleton3D *p_skeleton, bool p_mutable_bone_axes) {
chain.clear();
bool extends_end = extend_end_bone && end_bone_length > 0;
for (uint32_t i = 0; i < joints.size(); i++) {
chain.push_back(p_skeleton->get_bone_global_pose(joints[i].bone).origin);
bool last = i == joints.size() - 1;
if (last && extends_end) {
Vector3 axis = IKModifier3D::get_bone_axis(p_skeleton, end_bone.bone, end_bone_direction, p_mutable_bone_axes);
if (axis.is_zero_approx()) {
continue;
}
if (!solver_info_list[i]) {
solver_info_list[i] = memnew(IKModifier3DSolverInfo);
}
solver_info_list[i]->forward_vector = snap_vector_to_plane(joint_settings[i]->get_rotation_axis_vector(), axis.normalized());
solver_info_list[i]->length = end_bone_length;
chain.push_back(p_skeleton->get_bone_global_pose(joints[i].bone).xform(axis * end_bone_length));
} else if (!last) {
Vector3 axis = p_skeleton->get_bone_rest(joints[i + 1].bone).origin;
if (axis.is_zero_approx()) {
continue;
}
if (!solver_info_list[i]) {
solver_info_list[i] = memnew(IKModifier3DSolverInfo);
}
solver_info_list[i]->forward_vector = snap_vector_to_plane(joint_settings[i]->get_rotation_axis_vector(), axis.normalized());
solver_info_list[i]->length = axis.length();
}
}
init_current_joint_rotations(p_skeleton);
}
~IterateIK3DSetting() {
for (uint32_t i = 0; i < joint_settings.size(); i++) {
if (joint_settings[i]) {
@ -256,7 +288,10 @@ protected:
virtual void _validate_axis(Skeleton3D *p_skeleton, int p_index, int p_joint) const override;
virtual void _init_joints(Skeleton3D *p_skeleton, int p_index) override;
void _clear_joints(int p_index); // Connect signal with the IterateIK3D node so it shouldn't be included by struct IterateIK3DSetting.
virtual void _make_simulation_dirty(int p_index) override;
virtual void _update_bone_axis(Skeleton3D *p_skeleton, int p_index) override;
virtual void _process_ik(Skeleton3D *p_skeleton, double p_delta) override;
void _process_joints(double p_delta, Skeleton3D *p_skeleton, IterateIK3DSetting *p_setting, const Vector3 &p_target_destination);
@ -311,5 +346,9 @@ public:
// Helper.
Quaternion get_joint_limitation_space(int p_index, int p_joint, const Vector3 &p_forward) const;
#ifdef TOOLS_ENABLED
virtual Vector3 get_bone_vector(int p_index, int p_joint) const override;
#endif // TOOLS_ENABLED
~IterateIK3D();
};