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Add IKModifier3D

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Silc Lizard (Tokage) Renew 2025-09-10 09:46:41 +09:00
parent 08705259f2
commit bf22eb25e3
69 changed files with 6066 additions and 179 deletions
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scene/3d/fabr_ik_3d.cpp Normal file
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/**************************************************************************/
/* fabr_ik_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/**************************************************************************/
#include "fabr_ik_3d.h"
void FABRIK3D::_solve_iteration(double p_delta, Skeleton3D *p_skeleton, IterateIK3DSetting *p_setting, const Vector3 &p_destination) {
int joint_size = (int)p_setting->joints.size();
// Backwards.
bool first = true;
for (int i = joint_size - 1; i >= 0; i--) {
IKModifier3DSolverInfo *solver_info = p_setting->solver_info_list[i];
if (!solver_info || Math::is_zero_approx(solver_info->length)) {
continue;
}
int HEAD = i;
int TAIL = i + 1;
if (first) {
p_setting->update_chain_coordinate_bw(p_skeleton, TAIL, p_destination);
first = false;
}
p_setting->update_chain_coordinate_bw(p_skeleton, HEAD, limit_length(p_setting->chain[TAIL], p_setting->chain[HEAD], solver_info->length));
if (p_setting->joint_settings[HEAD]->rotation_axis != ROTATION_AXIS_ALL) {
p_setting->update_chain_coordinate_bw(p_skeleton, HEAD, p_setting->chain[TAIL] + p_setting->joint_settings[HEAD]->get_projected_rotation(solver_info->current_grest, p_setting->chain[HEAD] - p_setting->chain[TAIL]));
}
if (p_setting->joint_settings[HEAD]->limitation.is_valid()) {
p_setting->update_chain_coordinate_bw(p_skeleton, HEAD, p_setting->chain[TAIL] + p_setting->joint_settings[HEAD]->get_limited_rotation(solver_info->current_grest, p_setting->chain[HEAD] - p_setting->chain[TAIL], solver_info->forward_vector));
}
}
// Forwards.
first = true;
for (int i = 0; i < joint_size; i++) {
IKModifier3DSolverInfo *solver_info = p_setting->solver_info_list[i];
if (!solver_info || Math::is_zero_approx(solver_info->length)) {
continue;
}
int HEAD = i;
int TAIL = i + 1;
if (first) {
p_setting->update_chain_coordinate_fw(p_skeleton, HEAD, p_skeleton->get_bone_global_pose(p_setting->joints[HEAD].bone).origin);
first = false;
}
p_setting->update_chain_coordinate_fw(p_skeleton, TAIL, limit_length(p_setting->chain[HEAD], p_setting->chain[TAIL], solver_info->length));
if (p_setting->joint_settings[HEAD]->rotation_axis != ROTATION_AXIS_ALL) {
p_setting->update_chain_coordinate_fw(p_skeleton, TAIL, p_setting->chain[HEAD] + p_setting->joint_settings[HEAD]->get_projected_rotation(solver_info->current_grest, p_setting->chain[TAIL] - p_setting->chain[HEAD]));
}
if (p_setting->joint_settings[HEAD]->limitation.is_valid()) {
p_setting->update_chain_coordinate_fw(p_skeleton, TAIL, p_setting->chain[HEAD] + p_setting->joint_settings[HEAD]->get_limited_rotation(solver_info->current_grest, p_setting->chain[TAIL] - p_setting->chain[HEAD], solver_info->forward_vector));
}
}
}