Remove obsolete 3D skeletons and IK tutorials

They were written years ago and now provide erroneous and misleading
information for 3.1+ with its much enhanced Skeleton and Bone features,
built-in IK support, etc.

Fixes #257.
Those topics should be properly documented for 3.1+, see 1665.

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tutorials/3d/inverse_kinematics.rst

@@ -1,171 +0,0 @@
-.. _doc_inverse_kinematics:
-
-Inverse kinematics
-==================
-
-This tutorial is a follow-up to :ref:`doc_working_with_3d_skeletons`.
-
-Previously, we were able to control the rotations of bones in order to manipulate
-where our arm was (forward kinematics). But what if we wanted to solve this problem
-in reverse? Inverse kinematics (IK) tells us *how* to rotate our bones in order to reach
-a desired position.
-
-A simple example of IK is the human arm: While we intuitively know the target
-position of an object we want to reach for, our brains need to figure out how much to
-move each joint in our arm to get to that target.
-
-Initial problem
-~~~~~~~~~~~~~~~
-
-We want to position
-the 2 angles on the joints of our upperarm and lowerarm so that the tip of the
-lowerarm bone is as close to the target point (which is set by the target Vector3)
-as possible using only rotations. This task is calculation-intensive and never
-resolved by analytical equation solving, as it is an under-constrained
-problem, which means that there is more than one solution to an
-IK problem.
-
-.. image:: img/inverse_kinematics.png
-
-For easy calculation in this chapter, we assume the target is a
-child of Skeleton. If this is not the case for your setup, you can always
-reparent it in your script, as you will save on calculations if you
-do so.
-
-In the picture, you see the angles alpha and beta. In this case, we don't
-use poles and constraints, so we need to add our own. On the picture
-the angles are 2D angles living in a plane which is defined by bone
-base, bone tip, and target.
-
-The rotation axis is easily calculated using the cross-product of the bone
-vector and the target vector. The rotation, in this case, will always be in the
-positive direction. If ``t`` is the Transform which we get from the
-get_bone_global_pose() function, the bone vector is
-
-::
-
-    t.basis[2]
-
-So we have all the information we need to execute our algorithm.
-
-In game dev it is common to resolve this problem by iteratively closing
-to the desired location, adding/subtracting small numbers to the angles
-until the distance change achieved is less than some small error value.
-Sounds easy enough, but there are still Godot problems we need to resolve
-to achieve our goal.
-
--  **How to find coordinates of the tip of the bone?**
--  **How to find the vector from the bone base to the target?**
-
-For our goal (tip of the bone moved within area of target), we need to know
-where the tip of our IK bone is. As we don't use a leaf bone as IK bone, we
-know the coordinate of the bone base is the tip of the parent bone. All these
-calculations are quite dependent on the skeleton's structure. You could use
-pre-calculated constants, or you could add an extra bone at the tip of the
-IK bone and calculate using that.
-
-Implementation
-~~~~~~~~~~~~~~
-
-We will use an exported variable for the bone length to make it easy.
-
-::
-
-    export var ik_bone = "lowerarm"
-    export var ik_bone_length = 1.0
-    export var ik_error = 0.1
-
-Now, we need to apply our transformations from the IK bone to the base of
-the chain, so we apply a rotation to the IK bone, then move from our IK bone up to
-its parent, apply rotation again, then move to the parent of the
-current bone again, etc. So we need to limit our chain somewhat.
-
-::
-
-    export var ik_limit = 2
-
-For the ``_ready()`` function:
-
-::
-
-    var skel
-    func _ready():
-        skel = get_node("arm/Armature/Skeleton")
-        set_process(true)
-
-Now we can write our chain-passing function:
-
-::
-
-    func pass_chain():
-        var b = skel.find_bone(ik_bone)
-        var l = ik_limit
-        while b >= 0 and l > 0:
-            print("name: ", skel.get_bone_name(b))
-            print("local transform: ", skel.get_bone_pose(b))
-            print("global transform: ", skel.get_bone_global_pose(b))
-            b = skel.get_bone_parent(b)
-            l = l - 1
-
-And for the ``_process()`` function:
-
-::
-
-    func _process(delta):
-        pass_chain(delta)
-
-Executing this script will pass through the bone chain, printing bone
-transforms.
-
-::
-
-    extends Spatial
-
-    export var ik_bone = "lowerarm"
-    export var ik_bone_length = 1.0
-    export var ik_error = 0.1
-    export var ik_limit = 2
-    var skel
-
-    func _ready():
-        skel = get_node("arm/Armature/Skeleton")
-        set_process(true)
-
-    func pass_chain(delta):
-        var b = skel.find_bone(ik_bone)
-        var l = ik_limit
-        while b >= 0 and l > 0:
-            print("name: ", skel.get_bone_name(b))
-            print("local transform: ", skel.get_bone_pose(b))
-            print("global transform: ", skel.get_bone_global_pose(b))
-            b = skel.get_bone_parent(b)
-            l = l - 1
-
-    func _process(delta):
-        pass_chain(delta)
-
-Now we need to actually work with the target. The target should be placed
-somewhere accessible. Since "arm" is an imported scene, we better place
-the target node within our top level scene. But for us to work with target
-easily, its Transform should be on the same level as the Skeleton.
-
-To cope with this problem, we create a "target" node under our scene root
-node and will reparent it at runtime, copying the global transform,
-which will achieve the desired effect.
-
-Create a new Spatial node under the root node and rename it to "target".
-Then modify the ``_ready()`` function to look like this:
-
-::
-
-    var skel
-    var target
-
-    func _ready():
-        skel = get_node("arm/Armature/Skeleton")
-        target = get_node("target")
-        var ttrans = target.get_global_transform()
-        remove_child(target)
-        skel.add_child(target)
-        target.set_global_transform(ttrans)
-        set_process(true)

tutorials/3d/working_with_3d_skeletons.rst

@@ -1,354 +0,0 @@
-.. _doc_working_with_3d_skeletons:
-
-Working with 3D skeletons
-=========================
-
-Godot 3D skeleton support is currently quite rudimentary. The
-:ref:`class_Skeleton` node and class were designed mainly to support importing
-skeletal animations as a set of transformation matrices.
-
-Skeleton node
--------------
-
-The Skeleton node can be directly added anywhere you want on a scene. Usually
-the target mesh is a child of Skeleton, as it is easier to manipulate this way, since
-Transforms within a skeleton are relative to where the Skeleton is. But you
-can specify a Skeleton node in every MeshInstance.
-
-Naturally, Skeleton is intended to deform meshes and consists of
-structures called "bones". Each "bone" is represented as a Transform, which is
-applied to a group of vertices within a mesh. You can directly control a group
-of vertices from Godot. For that please reference the :ref:`class_MeshDataTool`
-class and its method :ref:`set_vertex_bones() <class_MeshDataTool_method_set_vertex_bones>`.
-
-The "bones" are organized hierarchically. Every bone, except for the root
-bone(s), has a parent. Every bone also has an associated name you can use to
-refer to it (e.g. "root" or "hand.L", etc.). All bones are numbered, and
-these numbers are bone IDs. Bone parents are referred to by their numbered
-IDs.
-
-For the rest of the article, we will consider the following scene:
-
-::
-
-    main (Spatial) - script is always here
-    == skel (Skeleton)
-    ==== mesh (MeshInstance)
-
-This scene is imported from Blender. It contains an arm mesh with 2 bones,
-upperarm and lowerarm, with the lowerarm bone parented to the upperarm.
-
-Skeleton class
---------------
-
-You can view Godots internal help for descriptions of all functions.
-Basically, all operations on bones are done using their numeric ID. You
-can convert from a name to a numeric ID and vice versa.
-
-**To find the number of bones in a skeleton we use the get_bone_count()
-function:**
-
-::
-
-    extends Spatial
-    var skel
-
-    func _ready():
-        skel = get_node("skel")
-        var count = skel.get_bone_count()
-        print("bone count:", count)
-
-**To find the ID of a bone, use the find_bone() function:**
-
-::
-
-    extends Spatial
-    var skel
-
-    func _ready():
-        skel = get_node("skel")
-        var id = skel.find_bone("upperarm")
-        print("bone ID:", id)
-
-Now, we want to do something interesting with the ID, not just print it.
-Also, we might need additional information, finding bone parents to
-complete chains, etc. This is done with the get/set_bone\_\* functions.
-
-**To find the parent of a bone we use the get_bone_parent(id) function:**
-
-::
-
-    extends Spatial
-    var skel
-
-    func _ready():
-        skel = get_node("skel")
-        var id = skel.find_bone("upperarm")
-        print("bone ID:", id)
-        var parent = skel.get_bone_parent(id)
-        print("bone parent ID:", parent)
-
-The bone transforms are what interests us here. There are 3 kinds of
-transform: local, global, custom.
-
-**To find the local Transform of a bone, we use get_bone_pose(id) function:**
-
-::
-
-    extends Spatial
-    var skel
-
-    func _ready():
-        skel = get_node("skel")
-        var id = skel.find_bone("upperarm")
-        print("bone ID:", id)
-        var parent = skel.get_bone_parent(id)
-        print("bone parent ID:", parent)
-        var t = skel.get_bone_pose(id)
-        print("bone transform: ", t)
-
-So we get a 3x4 matrix there, with the first column filled with 1s. What can we do
-with this matrix? It is a Transform, so we can do everything we can do with
-Transforms (basically translate, rotate and scale). We could also multiply
-transforms to have more complex transforms. Remember, "bones" in Godot are
-just Transforms over a group of vertices. We could also copy Transforms of
-other objects there. So let's rotate our "upperarm" bone:
-
-::
-
-    extends Spatial
-    var skel
-    var id
-
-    func _ready():
-        skel = get_node("skel")
-        id = skel.find_bone("upperarm")
-        print("bone ID:", id)
-        var parent = skel.get_bone_parent(id)
-        print("bone parent ID:", parent)
-        var t = skel.get_bone_pose(id)
-        print("bone transform: ", t)
-        set_process(true)
-
-    func _process(delta):
-        var t = skel.get_bone_pose(id)
-        t = t.rotated(Vector3(0.0, 1.0, 0.0), 0.1 * delta)
-        skel.set_bone_pose(id, t)
-
-Now we can rotate individual bones. The same happens for scale and
-translate. Try these on your own and check the results.
-
-What we used here was the local pose. By default all bones are not modified.
-But this Transform tells us nothing about the relationship between bones.
-This information is needed for quite a number of tasks. How can we get
-it? This is where the global transform comes into play:
-
-**To find the bone global Transform we use get_bone_global_pose(id)
-function:**
-
-Let's find the global Transform for the lowerarm bone:
-
-::
-
-    extends Spatial
-    var skel
-
-    func _ready():
-        skel = get_node("skel")
-        var id = skel.find_bone("lowerarm")
-        print("bone ID:", id)
-        var parent = skel.get_bone_parent(id)
-        print("bone parent ID:", parent)
-        var t = skel.get_bone_global_pose(id)
-        print("bone transform: ", t)
-
-As you can see, this transform is not zeroed. While being called global, it
-is actually relative to the Skeleton origin. For a root bone, the origin is always
-at 0 if not modified. Let's print the origin for our lowerarm bone:
-
-::
-
-    extends Spatial
-    var skel
-
-    func _ready():
-        skel = get_node("skel")
-        var id = skel.find_bone("lowerarm")
-        print("bone ID:", id)
-        var parent = skel.get_bone_parent(id)
-        print("bone parent ID:", parent)
-        var t = skel.get_bone_global_pose(id)
-        print("bone origin: ", t.origin)
-
-You will see a number. What does this number mean? It is a rotation
-point of the Transform. So it is base part of the bone. In Blender, you can
-go to Pose mode and try to rotate bones there. They will rotate around
-their origin.
-
-But what about the bone tip? We can't know things like the bone length,
-which we need for many things, without knowing the tip location. For all
-bones in a chain, except for the last one, we can calculate the tip location. It is
-simply a child bone's origin. There are situations when this is not
-true, such as for non-connected bones, but that is OK for us for now, as it is
-not important regarding Transforms.
-
-Notice that the leaf bone tip is nowhere to be found. A leaf bone is a bone
-without children, so you don't have any information about its tip.
-But this is not a showstopper. You can overcome this by either adding an extra
-bone to the chain or just calculating the length of the leaf bone in Blender
-and storing the value in your script.
-
-Using 3D "bones" for mesh control
----------------------------------
-
-Now, as you know the basics, we can apply these to make full FK-control of our
-arm (FK is forward-kinematics).
-
-To fully control our arm, we need the following parameters:
-
--  Upperarm angle x, y, z
--  Lowerarm angle x, y, z
-
-All of these parameters can be set, incremented, and decremented.
-
-Create the following node tree:
-
-::
-
-    main (Spatial) <- script is here
-    +-arm (arm scene)
-    + DirectionLight (DirectionLight)
-    + Camera
-
-Set up the Camera so that the arm is properly visible. Rotate DirectionLight
-so that the arm is properly lit while in scene play mode.
-
-Now we need to create a new script under main:
-
-First we define the setup parameters:
-
-::
-
-    var lowerarm_angle = Vector3()
-    var upperarm_angle = Vector3()
-
-Now we need to set up a way to change them. Let us use keys for that.
-
-Please create 7 actions under project settings -> Input Map:
-
--  **selext_x** - bind to X key
--  **selext_y** - bind to Y key
--  **selext_z** - bind to Z key
--  **select_upperarm** - bind to key 1
--  **select_lowerarm** - bind to key 2
--  **increment** - bind to key numpad +
--  **decrement** - bind to key numpad -
-
-So now we want to adjust the above parameters. Therefore, we create code
-which does that:
-
-::
-
-    func _ready():
-        set_process(true)
-
-    var bone = "upperarm"
-    var coordinate = 0
-
-    func _process(delta):
-        if Input.is_action_pressed("select_x"):
-            coordinate = 0
-        elif Input.is_action_pressed("select_y"):
-            coordinate = 1
-        elif Input.is_action_pressed("select_z"):
-            coordinate = 2
-        elif Input.is_action_pressed("select_upperarm"):
-            bone = "upperarm"
-        elif Input.is_action_pressed("select_lowerarm"):
-            bone = "lowerarm"
-        elif Input.is_action_pressed("increment"):
-            if bone == "lowerarm":
-                lowerarm_angle[coordinate] += 1
-            elif bone == "upperarm":
-                upperarm_angle[coordinate] += 1
-
-The full code for arm control is this:
-
-::
-
-    extends Spatial
-
-    # member variables here, example:
-    # var a=2
-    # var b="textvar"
-    var upperarm_angle = Vector3()
-    var lowerarm_angle = Vector3()
-    var skel
-
-    func _ready():
-        skel = get_node("arm/Armature/Skeleton")
-        set_process(true)
-
-    var bone = "upperarm"
-    var coordinate = 0
-
-    func set_bone_rot(bone, ang):
-        var b = skel.find_bone(bone)
-        var rest = skel.get_bone_rest(b)
-        var newpose = rest.rotated(Vector3(1.0, 0.0, 0.0), ang.x)
-        var newpose = newpose.rotated(Vector3(0.0, 1.0, 0.0), ang.y)
-        var newpose = newpose.rotated(Vector3(0.0, 0.0, 1.0), ang.z)
-        skel.set_bone_pose(b, newpose)
-
-    func _process(delta):
-        if Input.is_action_pressed("select_x"):
-            coordinate = 0
-        elif Input.is_action_pressed("select_y"):
-            coordinate = 1
-        elif Input.is_action_pressed("select_z"):
-            coordinate = 2
-        elif Input.is_action_pressed("select_upperarm"):
-            bone = "upperarm"
-        elif Input.is_action_pressed("select_lowerarm"):
-            bone = "lowerarm"
-        elif Input.is_action_pressed("increment"):
-            if bone == "lowerarm":
-                lowerarm_angle[coordinate] += 1
-            elif bone == "upperarm":
-                upperarm_angle[coordinate] += 1
-        elif Input.is_action_pressed("decrement"):
-            if bone == "lowerarm":
-                lowerarm_angle[coordinate] -= 1
-            elif bone == "upperarm":
-                upperarm_angle[coordinate] -= 1
-        set_bone_rot("lowerarm", lowerarm_angle)
-        set_bone_rot("upperarm", upperarm_angle)
-
-Pressing keys 1/2 selects upperarm/lowerarm; select the axis by pressing x,
-y, z, rotate using numpad "+"/"-".
-
-This way you fully control your arm in FK mode using 2 bones. You can
-add additional bones and/or improve the "feel" of the interface by using
-coefficients for the change. I recommend you play with this example a
-lot before moving on to the next part.
-
-You can clone the demo code for this chapter using
-
-::
-
-    git clone [email protected]:slapin/godot-skel3d.git
-    cd demo1
-
-Or you can browse it using the web-interface:
-
-https://github.com/slapin/godot-skel3d
-
-Using 3D "bones" to implement inverse kinematics
-------------------------------------------------
-
-See :ref:`doc_inverse_kinematics`.
-
-Using 3D "bones" to implement ragdoll-like physics
---------------------------------------------------
-
-TODO.