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Add Deterministic option to IK

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This commit is contained in:
Silc Lizard (Tokage) Renew
2025-11-15 23:00:34 +09:00
parent 68410acc61
commit 3812c74eab
3 changed files with 22 additions and 0 deletions
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4
doc/classes/IterateIK3D.xml
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@ -145,6 +145,10 @@
The maximum amount each bone can rotate in a single iteration.
[b]Note:[/b] This limitation is applied during each iteration. For example, if [member max_iterations] is [code]4[/code] and [member angular_delta_limit] is [code]5[/code] degrees, the maximum rotation possible in a single frame is [code]20[/code] degrees.
</member>
<member name="deterministic" type="bool" setter="set_deterministic" getter="is_deterministic" default="false">
If [code]false[/code], the result is calculated from the previous frame's [IterateIK3D] result as the initial state.
If [code]true[/code], the previous frame's [IterateIK3D] result is discarded. At this point, the new result is calculated from the bone pose excluding the [IterateIK3D] as the initial state. This means the result will be always equal as long as the target position and the previous bone pose are the same. However, if [member angular_delta_limit] and [member max_iterations] are set too small, the end bone of the chain will never reach the target.
</member>
<member name="max_iterations" type="int" setter="set_max_iterations" getter="get_max_iterations" default="4">
The number of iteration loops used by the IK solver to produce more accurate results.
</member>

13
scene/3d/iterate_ik_3d.cpp
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@ -190,6 +190,14 @@ double IterateIK3D::get_angular_delta_limit() const {
return angular_delta_limit;
}
void IterateIK3D::set_deterministic(bool p_deterministic) {
deterministic = p_deterministic;
}
bool IterateIK3D::is_deterministic() const {
return deterministic;
}
// Setting.
void IterateIK3D::set_target_node(int p_index, const NodePath &p_node_path) {
@ -362,6 +370,8 @@ void IterateIK3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_min_distance"), &IterateIK3D::get_min_distance);
ClassDB::bind_method(D_METHOD("set_angular_delta_limit", "angular_delta_limit"), &IterateIK3D::set_angular_delta_limit);
ClassDB::bind_method(D_METHOD("get_angular_delta_limit"), &IterateIK3D::get_angular_delta_limit);
ClassDB::bind_method(D_METHOD("set_deterministic", "deterministic"), &IterateIK3D::set_deterministic);
ClassDB::bind_method(D_METHOD("is_deterministic"), &IterateIK3D::is_deterministic);
// Setting.
ClassDB::bind_method(D_METHOD("set_target_node", "index", "target_node"), &IterateIK3D::set_target_node);
@ -384,6 +394,7 @@ void IterateIK3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_iterations", PROPERTY_HINT_RANGE, "0,100,or_greater"), "set_max_iterations", "get_max_iterations");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "min_distance", PROPERTY_HINT_RANGE, "0,1,0.001,or_greater"), "set_min_distance", "get_min_distance");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_delta_limit", PROPERTY_HINT_RANGE, "0,180,0.001,radians_as_degrees"), "set_angular_delta_limit", "get_angular_delta_limit");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "deterministic"), "set_deterministic", "is_deterministic");
ADD_ARRAY_COUNT("Settings", "setting_count", "set_setting_count", "get_setting_count", "settings/");
}
@ -414,6 +425,8 @@ void IterateIK3D::_init_joints(Skeleton3D *p_skeleton, int p_index) {
_clear_joints(p_index);
setting->init_joints(p_skeleton, mutable_bone_axes);
setting->simulation_dirty = false;
} else if (deterministic) {
setting->init_joints(p_skeleton, mutable_bone_axes);
}
if (mutable_bone_axes) {

5
scene/3d/iterate_ik_3d.h
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@ -279,6 +279,8 @@ protected:
double min_distance_squared = min_distance * min_distance; // For cache.
double angular_delta_limit = Math::deg_to_rad(2.0); // If the delta is too large, the results before and after iterating can change significantly, and divergence of calculations can easily occur.
bool deterministic = false;
bool _get(const StringName &p_path, Variant &r_ret) const;
bool _set(const StringName &p_path, const Variant &p_value);
void _get_property_list(List<PropertyInfo> *p_list) const;
@ -325,6 +327,9 @@ public:
void set_angular_delta_limit(double p_angular_delta_limit);
double get_angular_delta_limit() const;
void set_deterministic(bool p_deterministic);
bool is_deterministic() const;
// Setting.
void set_target_node(int p_index, const NodePath &p_target_node);
NodePath get_target_node(int p_index) const;