Merge pull request #382 from TwistedTwigleg/Godot_3_2_IK_Fix

Fixed GDScript IK demo so it works with Godot 3.2

3d/ik/addons/sade/ik_fabrik.gd

@@ -1,5 +1,6 @@
 tool
 extends Spatial
+
 # A FABRIK IK chain with a middle joint helper.
 
 # The delta/tolerance for the bone chain (how do the bones need to be before it is considered satisfactory)
@@ -189,53 +190,29 @@ func solve_chain():
 	# If we are using middle joint target (and have more than 2 bones), move our middle joint towards it!
 	if use_middle_joint_target == true:
 		if bone_nodes.size() > 2:
-			var middle_point_pos = middle_joint_target.global_transform
-			bone_nodes[bone_nodes.size()/2].global_transform.origin = middle_point_pos.origin
+			var middle_point_pos = middle_joint_target.global_transform.origin
+			var middle_point_pos_diff = (middle_point_pos - bone_nodes[bone_nodes.size()/2].global_transform.origin)
+			bone_nodes[bone_nodes.size()/2].global_transform.origin += middle_point_pos_diff.normalized()
 	
-	# Get the distance from the origin to the target
-	var distance = (chain_origin - target_pos).length()
+	# Get the difference between our end effector (the final bone in the chain) and the target
+	var dif = (bone_nodes[bone_nodes.size()-1].global_transform.origin - target_pos).length()
 	
-	# If the distance is farther than our total reach, the target cannot be reached.
-	# Make the bone chain a straight line pointing towards the target
-	if distance > total_length:
-		for i in range (0, bones_in_chain.size()):
-			# Create a direct line to target and make this bone travel down that line
-			var curr_origin = bone_nodes[i].global_transform.origin
-			var r =(target_pos - curr_origin).length()
-			var l = bones_in_chain_lengths[i] / r
-			
-			# Find new join position
-			var new_pos = curr_origin.linear_interpolate(target_pos, l)
-			
-			# Apply it to the bone node
-			bone_nodes[i].look_at(new_pos, Vector3.UP)
-			bone_nodes[i].global_transform.origin = new_pos
+	# Check to see if the distance from the end effector to the target is within our error margin (CHAIN_TOLERANCE).
+	# If it not, move the chain towards the target (going forwards, backwards, and then applying rotation)
+	while dif > CHAIN_TOLERANCE:
+		chain_backward()
+		chain_forward()
+		chain_apply_rotation()
 		
-		# Apply the rotation to the first node in the bone chain, making it look at the next bone in the bone chain
-		bone_nodes[0].look_at(bone_nodes[1].global_transform.origin, Vector3.UP)
-	
-	# If the distance is NOT farther than our total reach, the target can be reached.
-	else:
-		# Get the difference between our end effector (the final bone in the chain) and the target
-		var dif = (bone_nodes[bone_nodes.size()-1].global_transform.origin - target_pos).length()
+		# Update the difference between our end effector (the final bone in the chain) and the target
+		dif = (bone_nodes[bone_nodes.size()-1].global_transform.origin - target_pos).length()
 		
-		# Check to see if the distance from the end effector to the target is within our error margin (CHAIN_TOLERANCE).
-		# If it not, move the chain towards the target (going forwards, backwards, and then applying rotation)
-		while dif > CHAIN_TOLERANCE:
-			chain_backward()
-			chain_forward()
-			chain_apply_rotation()
-			
-			# Update the difference between our end effector (the final bone in the chain) and the target
-			dif = (bone_nodes[bone_nodes.size()-1].global_transform.origin - target_pos).length()
-			
-			# Add one to chain_iterations. If we have reached our max iterations, then break
-			chain_iterations = chain_iterations + 1
-			if chain_iterations >= CHAIN_MAX_ITER:
-				break
+		# Add one to chain_iterations. If we have reached our max iterations, then break
+		chain_iterations = chain_iterations + 1
+		if chain_iterations >= CHAIN_MAX_ITER:
+			break
 	
 	# Reset the bone node transforms to the skeleton bone transforms
-	#if constrained == false: # Resetting seems to break bone constraints...
 	for i in range(0, bone_nodes.size()):
 		var reset_bone_trans = get_bone_transform(i)
 		bone_nodes[i].global_transform = reset_bone_trans
@@ -307,10 +284,25 @@ func chain_apply_rotation():
 				
 				# Make this bone look in the same the direction as the last bone
 				bone_trans = bone_trans.looking_at(b_target.origin + dir, Vector3.UP)
+				
+				# Set the position of the bone to the bone target.
+				# Prior to Godot 3.2, this was not necessary, but because we can now completely
+				# override bone transforms, we need to set the position as well as rotation.
+				bone_trans.origin = b_target.origin
+				
 			else:
 				var b_target = target.global_transform
 				b_target.origin = skeleton.global_transform.xform_inv(b_target.origin)
 				bone_trans = bone_trans.looking_at(b_target.origin, Vector3.UP)
+				
+				# A bit of a hack. Because we only have two bones, we have to use the previous
+				# bone to position the last bone in the chain.
+				var last_bone = bone_nodes[i-1].global_transform
+				# Because we know the length of adjacent bone to this bone in the chain, we can
+				# position this bone by taking the last bone's position plus the length of the
+				# bone on the Z axis.
+				# This will place the position of the bone at the end of the last bone
+				bone_trans.origin = last_bone.origin - last_bone.basis.z.normalized() * bones_in_chain_lengths[i-1]
 		
 		# If this is NOT the last bone in the bone chain, rotate the bone to look at the next
 		# bone in the bone chain.
@@ -328,6 +320,11 @@ func chain_apply_rotation():
 			
 			# Make this bone look towards the direction of the next bone
 			bone_trans = bone_trans.looking_at(b_target.origin + dir, Vector3.UP)
+			
+			# Set the position of the bone to the bone target.
+			# Prior to Godot 3.2, this was not necessary, but because we can now completely
+			# override bone transforms, we need to set the position as well as rotation.
+			bone_trans.origin = b_target.origin
 		
 		# The the bone's (updated) transform
 		set_bone_transform(i, bone_trans)
@@ -347,7 +344,7 @@ func get_bone_transform(bone, convert_to_world_space = true):
 
 func set_bone_transform(bone, trans):
 	# Set the global transform of the bone
-	skeleton.set_bone_global_pose(bone_IDs[bones_in_chain[bone]], trans)
+	skeleton.set_bone_global_pose_override(bone_IDs[bones_in_chain[bone]], trans, 1.0, true)
 
 ############# END OF IK SOLVER RELATED FUNCTIONS #############
 

3d/ik/addons/sade/ik_look_at.gd

@@ -10,10 +10,14 @@ export(bool) var use_our_rotation_y = false
 export(bool) var use_our_rotation_z = false
 export(bool) var use_negative_our_rot = false
 export(Vector3) var additional_rotation = Vector3()
+export(bool) var position_using_additional_bone = false
+export(String) var additional_bone_name = ""
+export(float) var additional_bone_length = 1
 export(bool) var debug_messages = false
 
-var skeleton_to_use
-var first_call = true
+var skeleton_to_use: Skeleton = null
+var first_call: bool = true
+var _editor_indicator: Spatial = null
 
 
 func _ready():
@@ -63,42 +67,42 @@ func update_skeleton():
 	if update_mode >= 3:
 		return
 	
-	# Get the bone
-	var bone = skeleton_to_use.find_bone(bone_name)
+	# Get the bone index.
+	var bone: int = skeleton_to_use.find_bone(bone_name)
 	
-	# If no bone is found (-1), then return (and optionally print an error)
+	# If no bone is found (-1), then return and optionally print an error.
 	if bone == -1:
 		if debug_messages == true:
 			print (name, " - IK_LookAt: No bone in skeleton found with name [", bone_name, "]!")
 		return
 	
-	# get the bone's rest position
+	# get the bone's global transform pose.
 	var rest = skeleton_to_use.get_bone_global_pose(bone)
 	
-	# Convert our position relative to the skeleton's transform
+	# Convert our position relative to the skeleton's transform.
 	var target_pos = skeleton_to_use.global_transform.xform_inv(global_transform.origin)
 	
 	# Call helper's look_at function with the chosen up axis.
 	if look_at_axis == 0:
-		rest = rest.looking_at(target_pos, Vector3(1, 0, 0))
+		rest = rest.looking_at(target_pos, Vector3.RIGHT)
 	elif look_at_axis == 1:
-		rest = rest.looking_at(target_pos, Vector3(0, 1, 0))
+		rest = rest.looking_at(target_pos, Vector3.UP)
 	elif look_at_axis == 2:
-		rest = rest.looking_at(target_pos, Vector3(0, 0, 1))
+		rest = rest.looking_at(target_pos, Vector3.FORWARD)
 	else:
-		rest = rest.looking_at(target_pos, Vector3(0, 1, 0))
+		rest = rest.looking_at(target_pos, Vector3.UP)
 		if debug_messages == true:
 			print (name, " - IK_LookAt: Unknown look_at_axis value!")
 	
-	# Get our rotation euler, and the bone's rotation euler
+	# Get the rotation euler of the bone and of this node.
 	var rest_euler = rest.basis.get_euler()
 	var self_euler = global_transform.basis.orthonormalized().get_euler()
 	
-	# If we using negative rotation, we flip our rotation euler
+	# Flip the rotation euler if using negative rotation.
 	if use_negative_our_rot == true:
 		self_euler = -self_euler
 	
-	# Apply our rotation euler, if wanted/required
+	# Apply this node's rotation euler on each axis, if wanted/required.
 	if use_our_rotation_x == true:
 		rest_euler.x = self_euler.x
 	if use_our_rotation_y == true:
@@ -106,53 +110,61 @@ func update_skeleton():
 	if use_our_rotation_z == true:
 		rest_euler.z = self_euler.z
 	
-	# Rotate the bone by the (potentially) changed euler angle(s)
+	# Make a new basis with the, potentially, changed euler angles.
 	rest.basis = Basis(rest_euler)
 	
-	# If we have additional rotation, then rotate it by the local rotation vectors
+	# Apply additional rotation stored in additional_rotation to the bone.
 	if additional_rotation != Vector3.ZERO:
 		rest.basis = rest.basis.rotated(rest.basis.x, deg2rad(additional_rotation.x))
 		rest.basis = rest.basis.rotated(rest.basis.y, deg2rad(additional_rotation.y))
 		rest.basis = rest.basis.rotated(rest.basis.z, deg2rad(additional_rotation.z))
 	
-	# Finally, apply the bone rotation to the skeleton
-	skeleton_to_use.set_bone_global_pose(bone, rest)
+	# If the position is set using an additional bone, then set the origin
+	# based on that bone and its length.
+	if position_using_additional_bone:
+		var additional_bone_id = skeleton_to_use.find_bone(additional_bone_name)
+		var additional_bone_pos = skeleton_to_use.get_bone_global_pose(additional_bone_id)
+		rest.origin = additional_bone_pos.origin - additional_bone_pos.basis.z.normalized() * additional_bone_length
+	
+	# Finally, apply the new rotation to the bone in the skeleton.
+	skeleton_to_use.set_bone_global_pose_override(bone, rest, 1.0, true)
 
 
 func _setup_for_editor():
-	# So we can see the target in the editor, let's create a mesh instance,
-	# Add it as our child, and name it
-	var indicator = MeshInstance.new()
-	add_child(indicator)
-	indicator.name = "(EditorOnly) Visual indicator"
-
-	# We need to make a mesh for the mesh instance.
-	# The code below makes a small sphere mesh
+	# To see the target in the editor, let's create a MeshInstance,
+	# add it as a child of this node, and name it.
+	_editor_indicator = MeshInstance.new()
+	add_child(_editor_indicator)
+	_editor_indicator.name = "(EditorOnly) Visual indicator"
+
+	# Make a sphere mesh for the MeshInstance
 	var indicator_mesh = SphereMesh.new()
 	indicator_mesh.radius = 0.1
 	indicator_mesh.height = 0.2
 	indicator_mesh.radial_segments = 8
 	indicator_mesh.rings = 4
 
-	# The mesh needs a material (unless we want to use the defualt one).
-	# Let's create a material and use the EditorGizmoTexture to texture it.
+	# Create a new SpatialMaterial for the sphere and give it the editor
+	# gizmo texture so it is textured.
 	var indicator_material = SpatialMaterial.new()
 	indicator_material.flags_unshaded = true
 	indicator_material.albedo_texture = preload("editor_gizmo_texture.png")
 	indicator_material.albedo_color = Color(1, 0.5, 0, 1)
+	
+	# Assign the material and mesh to the MeshInstance.
 	indicator_mesh.material = indicator_material
-	indicator.mesh = indicator_mesh
+	_editor_indicator.mesh = indicator_mesh
 
 
 func _set_update(new_value):
 	update_mode = new_value
 	
-	# Set all of our processes to false
+	# Set all of our processes to false.
 	set_process(false)
 	set_physics_process(false)
 	set_notify_transform(false)
 	
-	# Based on the value of upate, change how we handle updating the skeleton
+	# Based on the value of passed to update, enable the correct process.
 	if update_mode == 0:
 		set_process(true)
 		if debug_messages == true:
@@ -171,13 +183,13 @@ func _set_update(new_value):
 
 
 func _set_skeleton_path(new_value):
-	# Because get_node doesn't work in the first call, we just want to assign instead
-	# This is to get around a issue with NodePaths exposed to the editor
+	# Because get_node doesn't work in the first call, we just want to assign instead.
+	# This is to get around a issue with NodePaths exposed to the editor.
 	if first_call == true:
 		skeleton_path = new_value
 		return
 	
-	# Assign skeleton_path to whatever value is passed
+	# Assign skeleton_path to whatever value is passed.
 	skeleton_path = new_value
 	
 	if skeleton_path == null:
@@ -185,15 +197,13 @@ func _set_skeleton_path(new_value):
 			print (name, " - IK_LookAt: No Nodepath selected for skeleton_path!")
 		return
 	
-	# Get the node at that location, if there is one
+	# Get the node at that location, if there is one.
 	var temp = get_node(skeleton_path)
 	if temp != null:
-		# If the node has the method "find_bone" then we can assume it is (likely) a skeleton
-		if temp.has_method("find_bone") == true:
+		if temp is Skeleton:
 			skeleton_to_use = temp
 			if debug_messages == true:
 				print (name, " - IK_LookAt: attached to (new) skeleton")
-		# If not, then it's (likely) not a skeleton
 		else:
 			skeleton_to_use = null
 			if debug_messages == true:

3d/ik/addons/sade/plugin.cfg

@@ -1,7 +1,14 @@
 [plugin]
 
 name="S.A.D.E (Skeleton additions and extensions)"
-description="S.A.D.E is A bunch of helpful nodes designed to make using skeletons in Godot powerful and easy."
-author="TwistedTwigleg"
-version="0.1.1"
+description="S.A.D.E is just an example plugin that adds a few nodes
+to show how to create an IK system in
+Godot using GDScript.
+
+Originally Authored by TwistedTwigleg.
+Developed by the Godot Community.
+All assets are licensed under MIT.
+"
+author="Godot Community"
+version="0.2.0"
 script="plugin_main.gd"

3d/ik/fabrik_ik.tscn

@@ -27,11 +27,13 @@ sky_curve = 0.25
 ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
 ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
 ground_curve = 0.01
-sun_energy = 16.0
 
 [sub_resource type="Environment" id=4]
 background_mode = 2
 background_sky = SubResource( 3 )
+ambient_light_color = Color( 1, 0.909804, 0.784314, 1 )
+ambient_light_energy = 1.4
+ambient_light_sky_contribution = 0.72
 tonemap_mode = 3
 glow_enabled = true
 glow_levels/1 = true
@@ -67,14 +69,14 @@ material/0 = ExtResource( 3 )
 material/1 = ExtResource( 4 )
 
 [node name="Camera" type="Camera" parent="."]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5, 8.8 )
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5, 11 )
 fov = 74.0
 script = ExtResource( 5 )
-MOVEMENT_SPEED = -6.0
+MOVEMENT_SPEED = -8.0
 flip_axis = true
 
 [node name="targets" type="Spatial" parent="Camera"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -5.41814 )
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -8 )
 
 [node name="IK_LookAt_Head" type="Spatial" parent="Camera/targets"]
 script = ExtResource( 6 )
@@ -83,14 +85,7 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
 bone_name = "Head"
-update_mode = 0
-look_at_axis = 1
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
-use_negative_our_rot = false
 additional_rotation = Vector3( 90, 0, 0 )
-debug_messages = false
 
 [node name="IK_FABRIK_Left_Arm" type="Spatial" parent="Camera/targets"]
 script = ExtResource( 8 )
@@ -100,10 +95,8 @@ __meta__ = {
 skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
 bones_in_chain = PoolStringArray( "Left_UpperArm", "Left_LowerArm" )
 bones_in_chain_lengths = PoolRealArray( 1.97, 3 )
-update_mode = 0
 chain_iterations = 10
 limit_chain_iterations = false
-reset_iterations_on_update = false
 use_middle_joint_target = true
 
 [node name="target" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm"]
@@ -117,14 +110,10 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../../../BattleBot/Armature/Skeleton")
 bone_name = "Left_Hand"
-update_mode = 0
-look_at_axis = 1
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
-use_negative_our_rot = false
 additional_rotation = Vector3( 0, 0, 90 )
-debug_messages = false
+position_using_additional_bone = true
+additional_bone_name = "Left_LowerArm"
+additional_bone_length = 3.0
 
 [node name="middle_joint_target" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm"]
 transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 7.16849, 0, -5.31922 )
@@ -143,10 +132,7 @@ __meta__ = {
 skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
 bones_in_chain = PoolStringArray( "Right_UpperArm", "Right_LowerArm", "Right_Hand" )
 bones_in_chain_lengths = PoolRealArray( 1.97, 3, 1.2 )
-update_mode = 0
-chain_iterations = 2
 limit_chain_iterations = false
-reset_iterations_on_update = false
 use_middle_joint_target = true
 
 [node name="target" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm"]
@@ -160,14 +146,7 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../../../BattleBot/Armature/Skeleton")
 bone_name = "Right_Hand"
-update_mode = 0
-look_at_axis = 1
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
-use_negative_our_rot = false
 additional_rotation = Vector3( 0, 0, 90 )
-debug_messages = false
 
 [node name="middle_joint_target" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm"]
 transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -6.34515, 0, -3.7843 )
@@ -186,21 +165,28 @@ mesh = SubResource( 5 )
 material/0 = SubResource( 6 )
 
 [node name="Control" type="Control" parent="."]
-margin_right = 40.0
-margin_bottom = 40.0
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
 
 [node name="Panel" type="Panel" parent="Control"]
 modulate = Color( 1, 1, 1, 0.784314 )
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = -2.0
-margin_top = 530.0
-margin_right = 1028.0
-margin_bottom = 600.0
+margin_top = -70.0
+margin_right = 4.0
 
 [node name="Label" type="Label" parent="Control/Panel"]
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = 12.0
 margin_top = 10.0
-margin_right = 1012.0
-margin_bottom = 41.0
+margin_right = -18.0
+margin_bottom = -29.0
 text = "F.A.B.R.I.K IK
 Move mouse to move IK targets
 (Using 3 bones in the right hand, only 2 in the left. 3+ recommended)"
@@ -208,20 +194,27 @@ align = 1
 valign = 1
 
 [node name="Label_extra" type="Label" parent="Control/Panel"]
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = 12.0
 margin_top = 80.0
-margin_right = 1012.0
-margin_bottom = 128.0
+margin_right = -18.0
+margin_bottom = 58.0
 text = "NOTE: You will get a few errors when saving with FABRIK IK nodes in your scene
 This is a known bug. Please ignore the errors for now, as they do not do anything
 (They're just annoying. If you find a fix, please add it to the demo repository!)"
 align = 1
 valign = 1
+__meta__ = {
+"_edit_use_anchors_": false
+}
 
 [node name="Label_left" type="Label" parent="Control/Panel"]
-margin_left = 782.0
+anchor_left = 1.0
+anchor_right = 1.0
+margin_left = -248.0
 margin_top = 4.0
-margin_right = 895.0
+margin_right = -135.0
 margin_bottom = 18.0
 text = "Left Hand"
 align = 1
@@ -235,19 +228,25 @@ text = "Right Hand"
 align = 1
 
 [node name="Button_Next" type="Button" parent="Control"]
-margin_left = 900.0
-margin_top = 540.0
-margin_right = 1019.0
-margin_bottom = 590.0
+anchor_left = 1.0
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
+margin_left = -124.0
+margin_top = -60.0
+margin_right = -5.0
+margin_bottom = -10.0
 text = "Next scene"
 script = ExtResource( 10 )
-scene_to_change_to = "res://fps/fps_example.tscn"
+scene_to_change_to = "res://skeleton_ik.tscn"
 
 [node name="Button_Prev" type="Button" parent="Control"]
+anchor_top = 1.0
+anchor_bottom = 1.0
 margin_left = 10.0
-margin_top = 540.0
+margin_top = -60.0
 margin_right = 129.0
-margin_bottom = 590.0
+margin_bottom = -10.0
 text = "Previous scene"
 script = ExtResource( 10 )
 scene_to_change_to = "res://look_at_ik.tscn"

3d/ik/fps/fps_example.tscn

@@ -49,27 +49,20 @@ sky_curve = 0.25
 ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
 ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
 ground_curve = 0.01
-sun_energy = 16.0
 
 [sub_resource type="Environment" id=9]
 background_mode = 2
 background_sky = SubResource( 8 )
-ambient_light_color = Color( 1, 1, 1, 1 )
-ambient_light_energy = 0.4
-ambient_light_sky_contribution = 0.0
-fog_depth_begin = 20.0
-fog_depth_curve = 0.406126
-fog_transmit_enabled = true
+ambient_light_color = Color( 1, 0.909804, 0.784314, 1 )
+ambient_light_energy = 1.4
+ambient_light_sky_contribution = 0.72
 tonemap_mode = 3
-ss_reflections_max_steps = 32
-ssao_enabled = true
-ssao_light_affect = 1.0
 glow_enabled = true
 glow_levels/1 = true
 glow_levels/2 = true
 glow_levels/5 = false
-glow_intensity = 0.6
-glow_bloom = 0.06
+glow_intensity = 0.2
+glow_bloom = 0.03
 glow_blend_mode = 0
 
 [sub_resource type="CapsuleShape" id=10]
@@ -412,47 +405,63 @@ shadow_enabled = true
 environment = SubResource( 9 )
 
 [node name="Control" type="Control" parent="."]
-margin_right = 40.0
-margin_bottom = 40.0
+anchor_right = 1.0
+anchor_bottom = 1.0
 
 [node name="Panel" type="Panel" parent="Control"]
 modulate = Color( 1, 1, 1, 0.784314 )
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = -2.0
-margin_top = 530.0
-margin_right = 1028.0
-margin_bottom = 600.0
+margin_top = -70.0
+margin_right = 4.0
 
 [node name="Label" type="Label" parent="Control/Panel"]
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = 12.0
 margin_top = 10.0
-margin_right = 1012.0
-margin_bottom = 41.0
-text = "Example use case: Dynamic FPS Animations
+margin_right = -18.0
+margin_bottom = -29.0
+text = "F.A.B.R.I.K IK Example use case: Dynamic FPS Animations
 Controls: WASD/Arrows to move, left click to fire, right click to look down sights, Q/E to lean left/right
 Escape to free/lock mouse cursor"
 align = 1
 valign = 1
 
 [node name="Button_Prev" type="Button" parent="Control"]
+anchor_top = 1.0
+anchor_bottom = 1.0
 margin_left = 10.0
-margin_top = 540.0
+margin_top = -60.0
 margin_right = 129.0
-margin_bottom = 590.0
+margin_bottom = -10.0
 text = "Previous scene"
 script = ExtResource( 2 )
 scene_to_change_to = "res://fabrik_ik.tscn"
 
 [node name="Crosshair" type="Control" parent="Control"]
 modulate = Color( 1, 1, 1, 0.784314 )
-margin_left = 492.0
-margin_top = 280.0
-margin_right = 532.0
-margin_bottom = 320.0
+anchor_left = 0.5
+anchor_top = 0.5
+anchor_right = 0.5
+anchor_bottom = 0.5
+margin_left = -20.0
+margin_top = -20.0
+margin_right = 20.0
+margin_bottom = 20.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
 
 [node name="ColorRect" type="ColorRect" parent="Control/Crosshair"]
 margin_left = 19.0
 margin_right = 21.0
 margin_bottom = 40.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
 
 [node name="ColorRect2" type="ColorRect" parent="Control/Crosshair"]
 margin_left = 40.0
@@ -488,14 +497,8 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../../BattleBot/Armature/Skeleton")
 bone_name = "Chest"
-update_mode = 0
 look_at_axis = 2
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
-use_negative_our_rot = false
 additional_rotation = Vector3( -10, 0, 0 )
-debug_messages = false
 
 [node name="Camera" type="Camera" parent="KinematicBody/CameraHolder/Lean_Path/PathFollow/IK_LookAt_Chest"]
 transform = Transform( -1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0, 0, 0 )
@@ -512,10 +515,7 @@ __meta__ = {
 skeleton_path = NodePath("../../../../../../BattleBot/Armature/Skeleton")
 bones_in_chain = PoolStringArray( "Left_UpperArm", "Left_LowerArm", "Left_Hand" )
 bones_in_chain_lengths = PoolRealArray( 1.97, 3, 0.1 )
-update_mode = 0
-chain_iterations = 6
 limit_chain_iterations = false
-reset_iterations_on_update = false
 use_middle_joint_target = true
 
 [node name="target" type="Spatial" parent="KinematicBody/CameraHolder/Lean_Path/PathFollow/IK_LookAt_Chest/Aim_pos/IK_FABRIK"]
@@ -529,14 +529,8 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../../../../../../BattleBot/Armature/Skeleton")
 bone_name = "Left_Hand"
-update_mode = 0
-look_at_axis = 1
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
 use_negative_our_rot = true
 additional_rotation = Vector3( 0, 0, 90 )
-debug_messages = false
 
 [node name="middle_joint_target" type="Spatial" parent="KinematicBody/CameraHolder/Lean_Path/PathFollow/IK_LookAt_Chest/Aim_pos/IK_FABRIK"]
 transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 5.85263, -2.91316, -2.77555 )
@@ -558,10 +552,7 @@ __meta__ = {
 skeleton_path = NodePath("../../../../../../BattleBot/Armature/Skeleton")
 bones_in_chain = PoolStringArray( "Right_UpperArm", "Right_LowerArm", "Right_Hand" )
 bones_in_chain_lengths = PoolRealArray( 1.97, 3, 0.1 )
-update_mode = 0
-chain_iterations = 3
 limit_chain_iterations = false
-reset_iterations_on_update = false
 use_middle_joint_target = true
 
 [node name="target" type="Spatial" parent="KinematicBody/CameraHolder/Lean_Path/PathFollow/IK_LookAt_Chest/Aim_pos/IK_FABRIK_RightArm"]
@@ -575,14 +566,8 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../../../../../../BattleBot/Armature/Skeleton")
 bone_name = "Right_Hand"
-update_mode = 0
-look_at_axis = 1
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
 use_negative_our_rot = true
 additional_rotation = Vector3( 0, 0, 90 )
-debug_messages = false
 
 [node name="middle_joint_target" type="Spatial" parent="KinematicBody/CameraHolder/Lean_Path/PathFollow/IK_LookAt_Chest/Aim_pos/IK_FABRIK_RightArm"]
 transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -5.73318, -2.91316, -2.77555 )
@@ -606,14 +591,6 @@ __meta__ = {
 }
 skeleton_path = NodePath("../../../../BattleBot/Armature/Skeleton")
 bone_name = "Head"
-update_mode = 0
-look_at_axis = 1
-use_our_rotation_x = false
-use_our_rotation_y = false
-use_our_rotation_z = false
-use_negative_our_rot = false
-additional_rotation = Vector3( 0, 0, 0 )
-debug_messages = false
 
 [node name="AnimationPlayer" type="AnimationPlayer" parent="KinematicBody/CameraHolder"]
 autoplay = "Start"

3d/ik/look_at_ik.tscn

@@ -25,11 +25,13 @@ sky_curve = 0.25
 ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
 ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
 ground_curve = 0.01
-sun_energy = 16.0
 
 [sub_resource type="Environment" id=4]
 background_mode = 2
 background_sky = SubResource( 3 )
+ambient_light_color = Color( 1, 0.909804, 0.784314, 1 )
+ambient_light_energy = 1.4
+ambient_light_sky_contribution = 0.72
 tonemap_mode = 3
 glow_enabled = true
 glow_levels/1 = true
@@ -58,10 +60,10 @@ material/0 = ExtResource( 3 )
 material/1 = ExtResource( 4 )
 
 [node name="Camera" type="Camera" parent="."]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5014, 8.81922 )
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.501, 11 )
 fov = 74.0
 script = ExtResource( 5 )
-MOVEMENT_SPEED = -2.0
+MOVEMENT_SPEED = -3.0
 flip_axis = true
 
 [node name="targets" type="Spatial" parent="Camera"]
@@ -93,33 +95,50 @@ bone_name = "Right_UpperArm"
 additional_rotation = Vector3( 0, 0, 180 )
 
 [node name="Control" type="Control" parent="."]
-margin_right = 40.0
-margin_bottom = 40.0
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
 
 [node name="Panel" type="Panel" parent="Control"]
 modulate = Color( 1, 1, 1, 0.784314 )
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = -2.0
-margin_top = 530.0
-margin_right = 1028.0
-margin_bottom = 600.0
+margin_top = -70.0
+margin_right = 4.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
 
 [node name="Label" type="Label" parent="Control/Panel"]
+anchor_right = 1.0
+anchor_bottom = 1.0
 margin_left = 12.0
 margin_top = 10.0
-margin_right = 1012.0
-margin_bottom = 41.0
+margin_right = -18.0
+margin_bottom = -29.0
 text = "LookAt IK
 Move mouse to move IK targets"
 align = 1
 valign = 1
 
 [node name="Button_Next" type="Button" parent="Control"]
-margin_left = 900.0
-margin_top = 540.0
-margin_right = 1019.0
-margin_bottom = 590.0
+anchor_left = 1.0
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
+margin_left = -124.0
+margin_top = -60.0
+margin_right = -5.0
+margin_bottom = -10.0
 text = "Next scene"
 script = ExtResource( 8 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
 scene_to_change_to = "res://fabrik_ik.tscn"
 
 [editable path="BattleBot"]

3d/ik/project.godot

@@ -19,11 +19,6 @@ config/name="3D IK"
 run/main_scene="res://look_at_ik.tscn"
 config/icon="res://icon.png"
 
-[display]
-
-window/stretch/mode="2d"
-window/stretch/aspect="keep"
-
 [editor_plugins]
 
 enabled=PoolStringArray( "sade" )

3d/ik/skeleton_ik.tscn

@@ -0,0 +1,175 @@
+[gd_scene load_steps=16 format=2]
+
+[ext_resource path="res://skeleton_ik_runner.gd" type="Script" id=1]
+[ext_resource path="res://addons/sade/ik_look_at.png" type="Texture" id=2]
+[ext_resource path="res://addons/sade/editor_gizmo_texture.png" type="Texture" id=3]
+[ext_resource path="res://godot_battle_bot.dae" type="PackedScene" id=4]
+[ext_resource path="res://target_from_mousepos.gd" type="Script" id=5]
+[ext_resource path="res://battle_bot_color.tres" type="Material" id=6]
+[ext_resource path="res://battle_bot_emission.tres" type="Material" id=7]
+[ext_resource path="res://button_change_scene.gd" type="Script" id=8]
+[ext_resource path="res://addons/sade/ik_look_at.gd" type="Script" id=9]
+
+[sub_resource type="PlaneMesh" id=1]
+size = Vector2( 40, 40 )
+
+[sub_resource type="SpatialMaterial" id=2]
+albedo_texture = ExtResource( 3 )
+roughness = 0.2
+uv1_scale = Vector3( 0.25, 0.25, 0.25 )
+uv1_triplanar = true
+
+[sub_resource type="ProceduralSky" id=3]
+sky_top_color = Color( 0.0470588, 0.454902, 0.976471, 1 )
+sky_horizon_color = Color( 0.556863, 0.823529, 0.909804, 1 )
+sky_curve = 0.25
+ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
+ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
+ground_curve = 0.01
+
+[sub_resource type="Environment" id=4]
+background_mode = 2
+background_sky = SubResource( 3 )
+ambient_light_color = Color( 1, 0.909804, 0.784314, 1 )
+ambient_light_energy = 1.4
+ambient_light_sky_contribution = 0.72
+tonemap_mode = 3
+glow_enabled = true
+glow_levels/1 = true
+glow_levels/2 = true
+glow_levels/5 = false
+glow_intensity = 0.2
+glow_bloom = 0.03
+glow_blend_mode = 0
+
+[sub_resource type="CubeMesh" id=5]
+size = Vector3( 1, 1, 1 )
+
+[sub_resource type="SpatialMaterial" id=6]
+albedo_color = Color( 0, 0.191406, 0.765625, 1 )
+roughness = 0.0
+
+[node name="Skeleton_IK" type="Spatial"]
+
+[node name="Floor_plane" type="MeshInstance" parent="."]
+mesh = SubResource( 1 )
+material/0 = SubResource( 2 )
+
+[node name="DirectionalLight" type="DirectionalLight" parent="."]
+transform = Transform( 0.56827, 0.673454, -0.472789, 0, 0.574581, 0.818448, 0.822842, -0.465099, 0.326517, -9.77531, 11.5204, 11.766 )
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource( 4 )
+
+[node name="BattleBot" parent="." instance=ExtResource( 4 )]
+
+[node name="godot_battle_bot" parent="BattleBot/Armature/Skeleton" index="0"]
+material/0 = ExtResource( 6 )
+material/1 = ExtResource( 7 )
+
+[node name="SkeletonIK_Left" type="SkeletonIK" parent="BattleBot/Armature/Skeleton" index="1"]
+process_priority = 1
+root_bone = "Left_UpperArm"
+tip_bone = "Left_Hand"
+use_magnet = true
+magnet = Vector3( 8, 6, 0 )
+target_node = NodePath("../../../../Camera/targets/Target_Left")
+script = ExtResource( 1 )
+
+[node name="SkeletonIK_Right" type="SkeletonIK" parent="BattleBot/Armature/Skeleton" index="2"]
+process_priority = 1
+root_bone = "Right_UpperArm"
+tip_bone = "Right_Hand"
+use_magnet = true
+magnet = Vector3( -8, 6, 0 )
+target_node = NodePath("../../../../Camera/targets/Target_Right")
+script = ExtResource( 1 )
+
+[node name="Camera" type="Camera" parent="."]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5, 11 )
+fov = 74.0
+script = ExtResource( 5 )
+MOVEMENT_SPEED = -8.0
+flip_axis = true
+
+[node name="targets" type="Spatial" parent="Camera"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -8 )
+
+[node name="IK_LookAt_Head" type="Spatial" parent="Camera/targets"]
+script = ExtResource( 9 )
+__meta__ = {
+"_editor_icon": ExtResource( 2 )
+}
+skeleton_path = NodePath("../../../../Skeleton_IK/BattleBot/Armature/Skeleton")
+bone_name = "Head"
+additional_rotation = Vector3( 90, 0, 0 )
+
+[node name="MeshInstance" type="MeshInstance" parent="Camera/targets"]
+mesh = SubResource( 5 )
+material/0 = SubResource( 6 )
+
+[node name="Target_Left" type="Position3D" parent="Camera/targets"]
+transform = Transform( -0.179447, 0.98366, -0.0145678, 0.981822, 0.178142, -0.0654973, -0.0618319, -0.0260563, -0.997746, 0.653517, -0.112305, -0.760886 )
+
+[node name="Target_Right" type="Position3D" parent="Camera/targets"]
+transform = Transform( -0.0217688, 0.998559, -0.0490576, 0.992503, 0.0274873, 0.119085, 0.120262, -0.0460975, -0.991671, -0.683053, 0.0251284, -0.811513 )
+
+[node name="Control" type="Control" parent="."]
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Panel" type="Panel" parent="Control"]
+modulate = Color( 1, 1, 1, 0.784314 )
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
+margin_left = -2.0
+margin_top = -70.0
+margin_right = 4.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Label" type="Label" parent="Control/Panel"]
+anchor_right = 1.0
+anchor_bottom = 1.0
+margin_left = 12.0
+margin_top = 10.0
+margin_right = -18.0
+margin_bottom = -29.0
+text = "SkeletonIK node
+Move mouse to move IK targets"
+align = 1
+valign = 1
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Button_Next" type="Button" parent="Control"]
+anchor_left = 1.0
+anchor_top = 1.0
+anchor_right = 1.0
+anchor_bottom = 1.0
+margin_left = -124.0
+margin_top = -60.0
+margin_right = -5.0
+margin_bottom = -10.0
+text = "Next scene"
+script = ExtResource( 8 )
+scene_to_change_to = "res://fps/fps_example.tscn"
+
+[node name="Button_Prev" type="Button" parent="Control"]
+anchor_top = 1.0
+anchor_bottom = 1.0
+margin_left = 10.0
+margin_top = -60.0
+margin_right = 129.0
+margin_bottom = -10.0
+text = "Previous scene"
+script = ExtResource( 8 )
+scene_to_change_to = "res://fabrik_ik.tscn"
+
+[editable path="BattleBot"]

3d/ik/skeleton_ik_runner.gd

@@ -0,0 +1,4 @@
+extends SkeletonIK
+
+func _ready():
+	start(false)

3d/ik/target_from_mousepos.gd

@@ -1,6 +1,6 @@
 extends Camera
 
-export(float) var MOVEMENT_SPEED = 10
+export(float) var MOVEMENT_SPEED = 12
 export(bool) var flip_axis = false
 
 var targets = null