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+/*************************************************************************/
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+/* ik.cpp */
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+/*************************************************************************/
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+/* This file is part of: */
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+/* GODOT ENGINE */
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+/* http://www.godotengine.org */
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+/*************************************************************************/
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+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
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+/* This file is Copyright (c) 2016 Sergey Lapin <[email protected]> */
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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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+
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+#include "ik.h"
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+
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+bool InverseKinematics::_get(const StringName& p_name,Variant &r_ret) const
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+{
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+
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+ if (String(p_name)=="ik_bone") {
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+
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+ r_ret=get_bone_name();
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+ return true;
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+ }
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+
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+ return false;
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+}
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+
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+bool InverseKinematics::_set(const StringName& p_name, const Variant& p_value)
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+{
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+
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+ if (String(p_name)=="ik_bone") {
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+
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+ set_bone_name(p_value);
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+ changed = true;
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+ return true;
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+ }
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+
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+ return false;
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+}
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+
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+void InverseKinematics::_get_property_list( List<PropertyInfo>* p_list ) const
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+{
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+
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+ Skeleton *parent=NULL;
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+ if(get_parent())
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+ parent=get_parent()->cast_to<Skeleton>();
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+
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+ if (parent) {
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+
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+ String names;
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+ for(int i=0;i<parent->get_bone_count();i++) {
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+ if(i>0)
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+ names+=",";
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+ names+=parent->get_bone_name(i);
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+ }
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+
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+ p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone",PROPERTY_HINT_ENUM,names));
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+ } else {
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+
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+ p_list->push_back(PropertyInfo(Variant::STRING,"ik_bone"));
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+
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+ }
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+
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+}
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+
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+void InverseKinematics::_check_bind()
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+{
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+
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+ if (get_parent() && get_parent()->cast_to<Skeleton>()) {
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+ Skeleton *sk = get_parent()->cast_to<Skeleton>();
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+ int idx = sk->find_bone(ik_bone);
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+ if (idx!=-1) {
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+ ik_bone_no = idx;
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+ bound=true;
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+ }
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+ skel = sk;
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+ }
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+}
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+
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+void InverseKinematics::_check_unbind()
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+{
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+
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+ if (bound) {
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+
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+ if (get_parent() && get_parent()->cast_to<Skeleton>()) {
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+ Skeleton *sk = get_parent()->cast_to<Skeleton>();
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+ int idx = sk->find_bone(ik_bone);
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+ if (idx!=-1)
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+ ik_bone_no = idx;
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+ else
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+ ik_bone_no = 0;
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+ skel = sk;
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+
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+ }
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+ bound=false;
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+ }
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+}
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+
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+
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+void InverseKinematics::set_bone_name(const String& p_name)
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+{
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+
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+ if (is_inside_tree())
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+ _check_unbind();
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+
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+ ik_bone=p_name;
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+
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+ if (is_inside_tree())
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+ _check_bind();
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+ changed = true;
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+}
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+
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+String InverseKinematics::get_bone_name() const
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+{
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+
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+ return ik_bone;
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+}
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+
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+void InverseKinematics::set_iterations(int itn)
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+{
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+
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+ if (is_inside_tree())
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+ _check_unbind();
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+
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+ iterations=itn;
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+
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+ if (is_inside_tree())
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+ _check_bind();
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+ changed = true;
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+}
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+
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+int InverseKinematics::get_iterations() const
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+{
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+
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+ return iterations;
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+}
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+
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+void InverseKinematics::set_chain_size(int cs)
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+{
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+ if (is_inside_tree())
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+ _check_unbind();
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+
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+ chain_size=cs;
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+ chain.clear();
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+ if (bound)
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+ update_parameters();
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+
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+ if (is_inside_tree())
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+ _check_bind();
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+ changed = true;
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+}
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+
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+int InverseKinematics::get_chain_size() const
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+{
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+
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+ return chain_size;
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+}
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+
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+void InverseKinematics::set_precision(float p)
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+{
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+
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+ if (is_inside_tree())
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+ _check_unbind();
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+
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+ precision=p;
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+
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+ if (is_inside_tree())
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+ _check_bind();
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+ changed = true;
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+}
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+
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+float InverseKinematics::get_precision() const
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+{
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+
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+ return precision;
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+}
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+
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+void InverseKinematics::set_speed(float p)
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+{
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+
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+ if (is_inside_tree())
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+ _check_unbind();
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+
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+ speed=p;
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+
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+ if (is_inside_tree())
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+ _check_bind();
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+ changed = true;
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+}
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+
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+float InverseKinematics::get_speed() const
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+{
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+
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+ return speed;
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+}
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+
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+void InverseKinematics::update_parameters()
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+{
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+ tail_bone = -1;
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+ for (int i = 0; i < skel->get_bone_count(); i++)
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+ if (skel->get_bone_parent(i) == ik_bone_no)
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+ tail_bone = i;
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+ int cur_bone = ik_bone_no;
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+ int its = chain_size;
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+ while (its > 0 && cur_bone >= 0) {
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+ chain.push_back(cur_bone);
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+ cur_bone = skel->get_bone_parent(cur_bone);
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+ its--;
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+ }
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+}
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+
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+void InverseKinematics::_notification(int p_what)
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+{
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+
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+ switch(p_what) {
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+
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+ case NOTIFICATION_ENTER_TREE: {
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+
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+ _check_bind();
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+ if (bound) {
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+ update_parameters();
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+ changed = false;
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+ set_process(true);
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+ }
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+ } break;
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+ case NOTIFICATION_PROCESS: {
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+ float delta = get_process_delta_time();
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+ Spatial *sksp = skel->cast_to<Spatial>();
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+ if (!bound)
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+ break;
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+ if (!sksp)
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+ break;
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+ if (changed) {
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+ update_parameters();
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+ changed = false;
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+ }
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+ Vector3 to = get_translation();
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+ for (int hump = 0; hump < iterations; hump++) {
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+ int depth = 0;
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+ float olderr = 1000.0;
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+ float psign = 1.0;
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+ bool reached = false;
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+
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+ for (List<int>::Element *b = chain.front(); b; b = b->next()) {
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+ int cur_bone = b->get();
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+ Vector3 d = skel->get_bone_global_pose(tail_bone).origin;
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+ Vector3 rg = to;
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+ float err = d.distance_squared_to(rg);
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+ if (err < precision) {
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+ if (!reached && err < precision)
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+ reached = true;
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+ break;
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+ } else
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+ if (reached)
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+ reached = false;
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+ if (err > olderr)
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+ psign = -psign;
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+ Transform mod = skel->get_bone_global_pose(cur_bone);
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+ Quat q1 = Quat(mod.basis).normalized();
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+ Transform mod2 = mod.looking_at(to, Vector3(0.0, 1.0, 0.0));
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+ Quat q2 = Quat(mod2.basis).normalized();
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+ if (psign < 0.0)
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+ q2 = q2.inverse();
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+ Quat q = q1.slerp(q2, speed / (1.0 + 500.0 * depth)).normalized();
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+ Transform fin = Transform(q);
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+ fin.origin = mod.origin;
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+ skel->set_bone_global_pose(cur_bone, fin);
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+ depth++;
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+ }
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+ if (reached)
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+ break;
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+
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+ }
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+
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+ } break;
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+ case NOTIFICATION_EXIT_TREE: {
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+ set_process(false);
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+
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+ _check_unbind();
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+ } break;
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+ }
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+}
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+void InverseKinematics::_bind_methods() {
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+ ObjectTypeDB::bind_method(_MD("set_bone_name","ik_bone"),&InverseKinematics::set_bone_name);
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+ ObjectTypeDB::bind_method(_MD("get_bone_name"),&InverseKinematics::get_bone_name);
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+ ObjectTypeDB::bind_method(_MD("set_iterations","iterations"),&InverseKinematics::set_iterations);
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+ ObjectTypeDB::bind_method(_MD("get_iterations"),&InverseKinematics::get_iterations);
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+ ObjectTypeDB::bind_method(_MD("set_chain_size","chain_size"),&InverseKinematics::set_chain_size);
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+ ObjectTypeDB::bind_method(_MD("get_chain_size"),&InverseKinematics::get_chain_size);
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+ ObjectTypeDB::bind_method(_MD("set_precision","precision"),&InverseKinematics::set_precision);
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+ ObjectTypeDB::bind_method(_MD("get_precision"),&InverseKinematics::get_precision);
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+ ObjectTypeDB::bind_method(_MD("set_speed","speed"),&InverseKinematics::set_speed);
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+ ObjectTypeDB::bind_method(_MD("get_speed"),&InverseKinematics::get_speed);
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+ ADD_PROPERTY(PropertyInfo(Variant::INT, "iterations"), _SCS("set_iterations"), _SCS("get_iterations"));
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+ ADD_PROPERTY(PropertyInfo(Variant::INT, "chain_size"), _SCS("set_chain_size"), _SCS("get_chain_size"));
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+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "precision"), _SCS("set_precision"), _SCS("get_precision"));
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+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "speed"), _SCS("set_speed"), _SCS("get_speed"));
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+}
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+
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+InverseKinematics::InverseKinematics()
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+{
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+ bound=false;
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+ chain_size = 2;
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+ iterations = 100;
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+ precision = 0.001;
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+ speed = 0.2;
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+
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+}
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+
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Rémi Verschelde