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Add optional rot axis / Fix initial pose with rot axis in SpringBone

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Silc Lizard (Tokage) Renew
2025-04-29 07:33:01 +09:00
parent 1b37dacc18
commit 9cef0d5ca5
6 changed files with 263 additions and 59 deletions
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37
scene/3d/skeleton_modifier_3d.cpp
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@ -241,5 +241,42 @@ Vector3::Axis SkeletonModifier3D::get_axis_from_bone_axis(BoneAxis p_axis) {
return ret;
}
Vector3 SkeletonModifier3D::limit_length(const Vector3 &p_origin, const Vector3 &p_destination, float p_length) {
return p_origin + (p_destination - p_origin).normalized() * p_length;
}
Quaternion SkeletonModifier3D::get_local_pose_rotation(Skeleton3D *p_skeleton, int p_bone, const Quaternion &p_global_pose_rotation) {
int parent = p_skeleton->get_bone_parent(p_bone);
if (parent < 0) {
return p_global_pose_rotation;
}
return p_skeleton->get_bone_global_pose(parent).basis.orthonormalized().inverse() * p_global_pose_rotation;
}
Quaternion SkeletonModifier3D::get_from_to_rotation(const Vector3 &p_from, const Vector3 &p_to, const Quaternion &p_prev_rot) {
if (Math::is_equal_approx((float)p_from.dot(p_to), -1.0f)) {
return p_prev_rot; // For preventing to glitch, checking dot for detecting flip is more accurate than checking cross.
}
Vector3 axis = p_from.cross(p_to);
if (axis.is_zero_approx()) {
return p_prev_rot;
}
float angle = p_from.angle_to(p_to);
if (Math::is_zero_approx(angle)) {
angle = 0.0;
}
return Quaternion(axis.normalized(), angle);
}
Vector3 SkeletonModifier3D::snap_vector_to_plane(const Vector3 &p_plane_normal, const Vector3 &p_vector) {
if (Math::is_zero_approx(p_plane_normal.length_squared())) {
return p_vector;
}
double length = p_vector.length();
Vector3 normalized_vec = p_vector.normalized();
Vector3 normal = p_plane_normal.normalized();
return normalized_vec.slide(normal) * length;
}
SkeletonModifier3D::SkeletonModifier3D() {
}

5
scene/3d/skeleton_modifier_3d.h
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@ -97,6 +97,11 @@ public:
static Vector3 get_vector_from_axis(Vector3::Axis p_axis);
static Vector3::Axis get_axis_from_bone_axis(BoneAxis p_axis);
static Vector3 limit_length(const Vector3 &p_origin, const Vector3 &p_destination, float p_length);
static Quaternion get_local_pose_rotation(Skeleton3D *p_skeleton, int p_bone, const Quaternion &p_global_pose_rotation);
static Quaternion get_from_to_rotation(const Vector3 &p_from, const Vector3 &p_to, const Quaternion &p_prev_rot);
static Vector3 snap_vector_to_plane(const Vector3 &p_plane_normal, const Vector3 &p_vector);
#ifdef TOOLS_ENABLED
virtual bool is_processed_on_saving() const { return false; }
#endif

164
scene/3d/spring_bone_simulator_3d.cpp
View File

@ -73,6 +73,8 @@ bool SpringBoneSimulator3D::_set(const StringName &p_path, const Variant &p_valu
set_individual_config(which, p_value);
} else if (what == "rotation_axis") {
set_rotation_axis(which, static_cast<RotationAxis>((int)p_value));
} else if (what == "rotation_axis_vector") {
set_rotation_axis_vector(which, p_value);
} else if (what == "radius") {
String opt = path.get_slicec('/', 3);
if (opt == "value") {
@ -124,6 +126,8 @@ bool SpringBoneSimulator3D::_set(const StringName &p_path, const Variant &p_valu
set_joint_bone(which, idx, p_value);
} else if (prop == "rotation_axis") {
set_joint_rotation_axis(which, idx, static_cast<RotationAxis>((int)p_value));
} else if (prop == "rotation_axis_vector") {
set_joint_rotation_axis_vector(which, idx, p_value);
} else if (prop == "radius") {
set_joint_radius(which, idx, p_value);
} else if (prop == "stiffness") {
@ -193,6 +197,8 @@ bool SpringBoneSimulator3D::_get(const StringName &p_path, Variant &r_ret) const
r_ret = is_config_individual(which);
} else if (what == "rotation_axis") {
r_ret = (int)get_rotation_axis(which);
} else if (what == "rotation_axis_vector") {
r_ret = get_rotation_axis_vector(which);
} else if (what == "radius") {
String opt = path.get_slicec('/', 3);
if (opt == "value") {
@ -244,6 +250,8 @@ bool SpringBoneSimulator3D::_get(const StringName &p_path, Variant &r_ret) const
r_ret = get_joint_bone(which, idx);
} else if (prop == "rotation_axis") {
r_ret = (int)get_joint_rotation_axis(which, idx);
} else if (prop == "rotation_axis_vector") {
r_ret = get_joint_rotation_axis_vector(which, idx);
} else if (prop == "radius") {
r_ret = get_joint_radius(which, idx);
} else if (prop == "stiffness") {
@ -297,7 +305,8 @@ void SpringBoneSimulator3D::_get_property_list(List<PropertyInfo> *p_list) const
props.push_back(PropertyInfo(Variant::STRING, path + "center_bone_name", PROPERTY_HINT_ENUM_SUGGESTION, enum_hint));
props.push_back(PropertyInfo(Variant::INT, path + "center_bone", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR));
props.push_back(PropertyInfo(Variant::BOOL, path + "individual_config"));
props.push_back(PropertyInfo(Variant::INT, path + "rotation_axis", PROPERTY_HINT_ENUM, "X,Y,Z,All"));
props.push_back(PropertyInfo(Variant::INT, path + "rotation_axis", PROPERTY_HINT_ENUM, "X,Y,Z,All,Custom"));
props.push_back(PropertyInfo(Variant::VECTOR3, path + "rotation_axis_vector"));
props.push_back(PropertyInfo(Variant::FLOAT, path + "radius/value", PROPERTY_HINT_RANGE, "0,1,0.001,or_greater,suffix:m"));
props.push_back(PropertyInfo(Variant::OBJECT, path + "radius/damping_curve", PROPERTY_HINT_RESOURCE_TYPE, "Curve"));
props.push_back(PropertyInfo(Variant::FLOAT, path + "stiffness/value", PROPERTY_HINT_RANGE, "0,4,0.01,or_greater"));
@ -312,7 +321,8 @@ void SpringBoneSimulator3D::_get_property_list(List<PropertyInfo> *p_list) const
String joint_path = path + "joints/" + itos(j) + "/";
props.push_back(PropertyInfo(Variant::STRING, joint_path + "bone_name", PROPERTY_HINT_ENUM_SUGGESTION, enum_hint, PROPERTY_USAGE_EDITOR | PROPERTY_USAGE_READ_ONLY | PROPERTY_USAGE_STORAGE));
props.push_back(PropertyInfo(Variant::INT, joint_path + "bone", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_READ_ONLY));
props.push_back(PropertyInfo(Variant::INT, joint_path + "rotation_axis", PROPERTY_HINT_ENUM, "X,Y,Z,All"));
props.push_back(PropertyInfo(Variant::INT, joint_path + "rotation_axis", PROPERTY_HINT_ENUM, "X,Y,Z,All,Custom"));
props.push_back(PropertyInfo(Variant::VECTOR3, joint_path + "rotation_axis_vector"));
props.push_back(PropertyInfo(Variant::FLOAT, joint_path + "radius", PROPERTY_HINT_RANGE, "0,1,0.001,or_greater,suffix:m"));
props.push_back(PropertyInfo(Variant::FLOAT, joint_path + "stiffness", PROPERTY_HINT_RANGE, "0,4,0.01,or_greater"));
props.push_back(PropertyInfo(Variant::FLOAT, joint_path + "drag", PROPERTY_HINT_RANGE, "0,1,0.01,or_greater"));
@ -358,7 +368,7 @@ void SpringBoneSimulator3D::_validate_dynamic_prop(PropertyInfo &p_property) con
// Joints option.
if (is_config_individual(which)) {
if (split[2] == "rotation_axis" || split[2] == "radius" || split[2] == "radius_damping_curve" ||
if (split[2] == "rotation_axis" || split[2] == "rotation_axis_vector" || split[2] == "radius" || split[2] == "radius_damping_curve" ||
split[2] == "stiffness" || split[2] == "stiffness_damping_curve" ||
split[2] == "drag" || split[2] == "drag_damping_curve" ||
split[2] == "gravity" || split[2] == "gravity_damping_curve" || split[2] == "gravity_direction") {
@ -370,6 +380,9 @@ void SpringBoneSimulator3D::_validate_dynamic_prop(PropertyInfo &p_property) con
p_property.usage ^= PROPERTY_USAGE_STORAGE;
p_property.usage |= PROPERTY_USAGE_READ_ONLY;
}
if (split[2] == "rotation_axis_vector" && get_rotation_axis(which) != ROTATION_AXIS_CUSTOM) {
p_property.usage = PROPERTY_USAGE_NONE;
}
}
// Collisions option.
@ -383,6 +396,16 @@ void SpringBoneSimulator3D::_validate_dynamic_prop(PropertyInfo &p_property) con
}
}
}
if (split.size() > 3 && split[0] == "settings") {
int which = split[1].to_int();
int joint = split[3].to_int();
// Joints option.
if (split[2] == "joints" && split.size() > 4) {
if (split[4] == "rotation_axis_vector" && get_joint_rotation_axis(which, joint) != ROTATION_AXIS_CUSTOM) {
p_property.usage = PROPERTY_USAGE_NONE;
}
}
}
}
void SpringBoneSimulator3D::_notification(int p_what) {
@ -758,6 +781,7 @@ void SpringBoneSimulator3D::set_rotation_axis(int p_index, RotationAxis p_axis)
}
settings[p_index]->rotation_axis = p_axis;
_make_joints_dirty(p_index);
notify_property_list_changed();
}
SpringBoneSimulator3D::RotationAxis SpringBoneSimulator3D::get_rotation_axis(int p_index) const {
@ -765,6 +789,38 @@ SpringBoneSimulator3D::RotationAxis SpringBoneSimulator3D::get_rotation_axis(int
return settings[p_index]->rotation_axis;
}
void SpringBoneSimulator3D::set_rotation_axis_vector(int p_index, const Vector3 &p_vector) {
ERR_FAIL_INDEX(p_index, settings.size());
if (is_config_individual(p_index) || settings[p_index]->rotation_axis != ROTATION_AXIS_CUSTOM) {
return; // Joint config is individual mode.
}
settings[p_index]->rotation_axis_vector = p_vector;
_make_joints_dirty(p_index);
}
Vector3 SpringBoneSimulator3D::get_rotation_axis_vector(int p_index) const {
ERR_FAIL_INDEX_V(p_index, settings.size(), Vector3());
Vector3 ret;
switch (settings[p_index]->rotation_axis) {
case ROTATION_AXIS_X:
ret = Vector3(1, 0, 0);
break;
case ROTATION_AXIS_Y:
ret = Vector3(0, 1, 0);
break;
case ROTATION_AXIS_Z:
ret = Vector3(0, 0, 1);
break;
case ROTATION_AXIS_ALL:
ret = Vector3(0, 0, 0);
break;
case ROTATION_AXIS_CUSTOM:
ret = settings[p_index]->rotation_axis_vector;
break;
}
return ret;
}
void SpringBoneSimulator3D::set_setting_count(int p_count) {
ERR_FAIL_COND(p_count < 0);
@ -948,6 +1004,11 @@ void SpringBoneSimulator3D::set_joint_rotation_axis(int p_index, int p_joint, Ro
if (sk) {
_validate_rotation_axis(sk, p_index, p_joint);
}
notify_property_list_changed();
settings[p_index]->simulation_dirty = true;
#ifdef TOOLS_ENABLED
update_gizmos();
#endif // TOOLS_ENABLED
}
SpringBoneSimulator3D::RotationAxis SpringBoneSimulator3D::get_joint_rotation_axis(int p_index, int p_joint) const {
@ -957,6 +1018,31 @@ SpringBoneSimulator3D::RotationAxis SpringBoneSimulator3D::get_joint_rotation_ax
return joints[p_joint]->rotation_axis;
}
void SpringBoneSimulator3D::set_joint_rotation_axis_vector(int p_index, int p_joint, const Vector3 &p_vector) {
ERR_FAIL_INDEX(p_index, settings.size());
if (!is_config_individual(p_index) || settings[p_index]->rotation_axis != ROTATION_AXIS_CUSTOM) {
return; // Joints are read-only.
}
Vector<SpringBone3DJointSetting *> &joints = settings[p_index]->joints;
ERR_FAIL_INDEX(p_joint, joints.size());
joints[p_joint]->rotation_axis_vector = p_vector;
Skeleton3D *sk = get_skeleton();
if (sk) {
_validate_rotation_axis(sk, p_index, p_joint);
}
settings[p_index]->simulation_dirty = true;
#ifdef TOOLS_ENABLED
update_gizmos();
#endif // TOOLS_ENABLED
}
Vector3 SpringBoneSimulator3D::get_joint_rotation_axis_vector(int p_index, int p_joint) const {
ERR_FAIL_INDEX_V(p_index, settings.size(), Vector3());
Vector<SpringBone3DJointSetting *> joints = settings[p_index]->joints;
ERR_FAIL_INDEX_V(p_joint, joints.size(), Vector3());
return joints[p_joint]->get_rotation_axis_vector();
}
void SpringBoneSimulator3D::set_joint_count(int p_index, int p_count) {
ERR_FAIL_INDEX(p_index, settings.size());
ERR_FAIL_COND(p_count < 0);
@ -1156,6 +1242,8 @@ void SpringBoneSimulator3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_radius", "index"), &SpringBoneSimulator3D::get_radius);
ClassDB::bind_method(D_METHOD("set_rotation_axis", "index", "axis"), &SpringBoneSimulator3D::set_rotation_axis);
ClassDB::bind_method(D_METHOD("get_rotation_axis", "index"), &SpringBoneSimulator3D::get_rotation_axis);
ClassDB::bind_method(D_METHOD("set_rotation_axis_vector", "index", "vector"), &SpringBoneSimulator3D::set_rotation_axis_vector);
ClassDB::bind_method(D_METHOD("get_rotation_axis_vector", "index"), &SpringBoneSimulator3D::get_rotation_axis_vector);
ClassDB::bind_method(D_METHOD("set_radius_damping_curve", "index", "curve"), &SpringBoneSimulator3D::set_radius_damping_curve);
ClassDB::bind_method(D_METHOD("get_radius_damping_curve", "index"), &SpringBoneSimulator3D::get_radius_damping_curve);
ClassDB::bind_method(D_METHOD("set_stiffness", "index", "stiffness"), &SpringBoneSimulator3D::set_stiffness);
@ -1185,6 +1273,8 @@ void SpringBoneSimulator3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_joint_bone", "index", "joint"), &SpringBoneSimulator3D::get_joint_bone);
ClassDB::bind_method(D_METHOD("set_joint_rotation_axis", "index", "joint", "axis"), &SpringBoneSimulator3D::set_joint_rotation_axis);
ClassDB::bind_method(D_METHOD("get_joint_rotation_axis", "index", "joint"), &SpringBoneSimulator3D::get_joint_rotation_axis);
ClassDB::bind_method(D_METHOD("set_joint_rotation_axis_vector", "index", "joint", "vector"), &SpringBoneSimulator3D::set_joint_rotation_axis_vector);
ClassDB::bind_method(D_METHOD("get_joint_rotation_axis_vector", "index", "joint"), &SpringBoneSimulator3D::get_joint_rotation_axis_vector);
ClassDB::bind_method(D_METHOD("set_joint_radius", "index", "joint", "radius"), &SpringBoneSimulator3D::set_joint_radius);
ClassDB::bind_method(D_METHOD("get_joint_radius", "index", "joint"), &SpringBoneSimulator3D::get_joint_radius);
ClassDB::bind_method(D_METHOD("set_joint_stiffness", "index", "joint", "stiffness"), &SpringBoneSimulator3D::set_joint_stiffness);
@ -1241,6 +1331,17 @@ void SpringBoneSimulator3D::_bind_methods() {
BIND_ENUM_CONSTANT(ROTATION_AXIS_Y);
BIND_ENUM_CONSTANT(ROTATION_AXIS_Z);
BIND_ENUM_CONSTANT(ROTATION_AXIS_ALL);
BIND_ENUM_CONSTANT(ROTATION_AXIS_CUSTOM);
}
void SpringBoneSimulator3D::_skeleton_changed(Skeleton3D *p_old, Skeleton3D *p_new) {
if (p_old && p_old->is_connected(SNAME("rest_updated"), callable_mp(this, &SpringBoneSimulator3D::_make_all_joints_dirty))) {
p_old->disconnect(SNAME("rest_updated"), callable_mp(this, &SpringBoneSimulator3D::_make_all_joints_dirty));
}
if (p_new && !p_new->is_connected(SNAME("rest_updated"), callable_mp(this, &SpringBoneSimulator3D::_make_all_joints_dirty))) {
p_new->connect(SNAME("rest_updated"), callable_mp(this, &SpringBoneSimulator3D::_make_all_joints_dirty));
}
_make_all_joints_dirty();
}
void SpringBoneSimulator3D::_validate_bone_names() {
@ -1307,7 +1408,7 @@ void SpringBoneSimulator3D::_validate_rotation_axis(Skeleton3D *p_skeleton, int
if (axis == ROTATION_AXIS_ALL) {
return;
}
Vector3 rot = get_vector_from_axis(static_cast<Vector3::Axis>((int)axis));
Vector3 rot = get_joint_rotation_axis_vector(p_index, p_joint).normalized();
Vector3 fwd;
if (p_joint < settings[p_index]->joints.size() - 1) {
fwd = p_skeleton->get_bone_rest(settings[p_index]->joints[p_joint + 1]->bone).origin;
@ -1496,6 +1597,7 @@ void SpringBoneSimulator3D::_update_joints() {
joints[j]->gravity_direction = settings[i]->gravity_direction;
joints[j]->rotation_axis = settings[i]->rotation_axis;
joints[j]->rotation_axis_vector = settings[i]->rotation_axis_vector;
}
settings[i]->simulation_dirty = true;
settings[i]->joints_dirty = false;
@ -1592,7 +1694,7 @@ void SpringBoneSimulator3D::_init_joints(Skeleton3D *p_skeleton, SpringBone3DSet
Vector3 axis = p_skeleton->get_bone_rest(setting->joints[i + 1]->bone).origin;
setting->joints[i]->verlet->current_tail = setting->cached_center.xform(p_skeleton->get_bone_global_pose(setting->joints[i]->bone).xform(axis));
setting->joints[i]->verlet->prev_tail = setting->joints[i]->verlet->current_tail;
setting->joints[i]->verlet->forward_vector = axis.normalized();
setting->joints[i]->verlet->forward_vector = snap_vector_to_plane(setting->joints[i]->get_rotation_axis_vector(), axis.normalized());
setting->joints[i]->verlet->length = axis.length();
setting->joints[i]->verlet->current_rot = Quaternion(0, 0, 0, 1);
} else if (setting->extend_end_bone && setting->end_bone_length > 0) {
@ -1601,7 +1703,7 @@ void SpringBoneSimulator3D::_init_joints(Skeleton3D *p_skeleton, SpringBone3DSet
continue;
}
setting->joints[i]->verlet = memnew(SpringBone3DVerletInfo);
setting->joints[i]->verlet->forward_vector = axis;
setting->joints[i]->verlet->forward_vector = snap_vector_to_plane(setting->joints[i]->get_rotation_axis_vector(), axis.normalized());
setting->joints[i]->verlet->length = setting->end_bone_length;
setting->joints[i]->verlet->current_tail = setting->cached_center.xform(p_skeleton->get_bone_global_pose(setting->joints[i]->bone).xform(axis * setting->end_bone_length));
setting->joints[i]->verlet->prev_tail = setting->joints[i]->verlet->current_tail;
@ -1611,21 +1713,6 @@ void SpringBoneSimulator3D::_init_joints(Skeleton3D *p_skeleton, SpringBone3DSet
setting->simulation_dirty = false;
}
Vector3 SpringBoneSimulator3D::snap_position_to_plane(const Transform3D &p_rest, RotationAxis p_axis, const Vector3 &p_position) {
if (p_axis == ROTATION_AXIS_ALL) {
return p_position;
}
Vector3 result = p_position;
result = p_rest.affine_inverse().xform(result);
result[(int)p_axis] = 0;
result = p_rest.xform(result);
return result;
}
Vector3 SpringBoneSimulator3D::limit_length(const Vector3 &p_origin, const Vector3 &p_destination, float p_length) {
return p_origin + (p_destination - p_origin).normalized() * p_length;
}
void SpringBoneSimulator3D::_process_joints(double p_delta, Skeleton3D *p_skeleton, Vector<SpringBone3DJointSetting *> &p_joints, const LocalVector<ObjectID> &p_collisions, const Transform3D &p_center_transform, const Transform3D &p_inverted_center_transform, const Quaternion &p_inverted_center_rotation) {
for (int i = 0; i < p_joints.size(); i++) {
SpringBone3DVerletInfo *verlet = p_joints[i]->verlet;
@ -1643,7 +1730,9 @@ void SpringBoneSimulator3D::_process_joints(double p_delta, Skeleton3D *p_skelet
(verlet->current_tail - verlet->prev_tail) * (1.0 - p_joints[i]->drag) +
p_center_transform.basis.get_rotation_quaternion().xform(current_rot.xform(verlet->forward_vector * (p_joints[i]->stiffness * p_delta)) + external);
// Snap to plane if axis locked.
next_tail = snap_position_to_plane(current_world_pose, p_joints[i]->rotation_axis, next_tail);
if (p_joints[i]->rotation_axis != ROTATION_AXIS_ALL) {
next_tail = current_world_pose.origin + current_world_pose.basis.get_rotation_quaternion().xform(snap_vector_to_plane(p_joints[i]->get_rotation_axis_vector(), current_world_pose.basis.get_rotation_quaternion().xform_inv(next_tail - current_world_pose.origin)));
}
// Limit bone length.
next_tail = limit_length(current_origin, next_tail, verlet->length);
@ -1658,7 +1747,9 @@ void SpringBoneSimulator3D::_process_joints(double p_delta, Skeleton3D *p_skelet
// Collider movement should separate from the effect of the center.
next_tail = col->collide(p_center_transform, p_joints[i]->radius, verlet->length, next_tail);
// Snap to plane if axis locked.
next_tail = snap_position_to_plane(current_world_pose, p_joints[i]->rotation_axis, next_tail);
if (p_joints[i]->rotation_axis != ROTATION_AXIS_ALL) {
next_tail = current_world_pose.origin + current_world_pose.basis.get_rotation_quaternion().xform(snap_vector_to_plane(p_joints[i]->get_rotation_axis_vector(), current_world_pose.basis.get_rotation_quaternion().xform_inv(next_tail - current_world_pose.origin)));
}
// Limit bone length.
next_tail = limit_length(current_origin, next_tail, verlet->length);
}
@ -1670,7 +1761,9 @@ void SpringBoneSimulator3D::_process_joints(double p_delta, Skeleton3D *p_skelet
// Convert position to rotation.
Vector3 from = current_rot.xform(verlet->forward_vector);
Vector3 to = p_inverted_center_transform.basis.xform(next_tail - current_origin).normalized();
Vector3 to = p_inverted_center_transform.basis.xform(next_tail - current_origin);
from.normalize();
to.normalize();
Quaternion from_to = get_from_to_rotation(from, to, verlet->current_rot);
verlet->current_rot = from_to;
@ -1681,29 +1774,6 @@ void SpringBoneSimulator3D::_process_joints(double p_delta, Skeleton3D *p_skelet
}
}
Quaternion SpringBoneSimulator3D::get_local_pose_rotation(Skeleton3D *p_skeleton, int p_bone, const Quaternion &p_global_pose_rotation) {
int parent = p_skeleton->get_bone_parent(p_bone);
if (parent < 0) {
return p_global_pose_rotation;
}
return p_skeleton->get_bone_global_pose(parent).basis.orthonormalized().inverse() * p_global_pose_rotation;
}
Quaternion SpringBoneSimulator3D::get_from_to_rotation(const Vector3 &p_from, const Vector3 &p_to, const Quaternion &p_prev_rot) {
if (Math::is_equal_approx((float)p_from.dot(p_to), -1.0f)) {
return p_prev_rot; // For preventing to glitch, checking dot for detecting flip is more accurate than checking cross.
}
Vector3 axis = p_from.cross(p_to);
if (axis.is_zero_approx()) {
return p_prev_rot;
}
float angle = p_from.angle_to(p_to);
if (Math::is_zero_approx(angle)) {
angle = 0.0;
}
return Quaternion(axis.normalized(), angle);
}
SpringBoneSimulator3D::~SpringBoneSimulator3D() {
clear_settings();
}

36
scene/3d/spring_bone_simulator_3d.h
View File

@ -69,6 +69,7 @@ public:
ROTATION_AXIS_Y,
ROTATION_AXIS_Z,
ROTATION_AXIS_ALL,
ROTATION_AXIS_CUSTOM,
};
struct SpringBone3DVerletInfo {
@ -84,6 +85,29 @@ public:
int bone = -1;
RotationAxis rotation_axis = ROTATION_AXIS_ALL;
Vector3 rotation_axis_vector = Vector3(1, 0, 0);
Vector3 get_rotation_axis_vector() const {
Vector3 ret;
switch (rotation_axis) {
case ROTATION_AXIS_X:
ret = Vector3(1, 0, 0);
break;
case ROTATION_AXIS_Y:
ret = Vector3(0, 1, 0);
break;
case ROTATION_AXIS_Z:
ret = Vector3(0, 0, 1);
break;
case ROTATION_AXIS_ALL:
ret = Vector3(0, 0, 0);
break;
case ROTATION_AXIS_CUSTOM:
ret = rotation_axis_vector;
break;
}
return ret;
}
float radius = 0.1;
float stiffness = 1.0;
float drag = 0.0;
@ -125,6 +149,7 @@ public:
Ref<Curve> gravity_damping_curve;
Vector3 gravity_direction = Vector3(0, -1, 0);
RotationAxis rotation_axis = ROTATION_AXIS_ALL;
Vector3 rotation_axis_vector = Vector3(1, 0, 0);
Vector<SpringBone3DJointSetting *> joints;
// Cache into collisions.
@ -151,6 +176,7 @@ protected:
void _notification(int p_what);
virtual void _validate_bone_names() override;
virtual void _skeleton_changed(Skeleton3D *p_old, Skeleton3D *p_new) override;
static void _bind_methods();
@ -203,6 +229,8 @@ public:
void set_rotation_axis(int p_index, RotationAxis p_axis);
RotationAxis get_rotation_axis(int p_index) const;
void set_rotation_axis_vector(int p_index, const Vector3 &p_vector);
Vector3 get_rotation_axis_vector(int p_index) const;
void set_radius(int p_index, float p_radius);
float get_radius(int p_index) const;
void set_radius_damping_curve(int p_index, const Ref<Curve> &p_damping_curve);
@ -237,6 +265,8 @@ public:
void set_joint_rotation_axis(int p_index, int p_joint, RotationAxis p_axis);
RotationAxis get_joint_rotation_axis(int p_index, int p_joint) const;
void set_joint_rotation_axis_vector(int p_index, int p_joint, const Vector3 &p_vector);
Vector3 get_joint_rotation_axis_vector(int p_index, int p_joint) const;
void set_joint_radius(int p_index, int p_joint, float p_radius);
float get_joint_radius(int p_index, int p_joint) const;
void set_joint_stiffness(int p_index, int p_joint, float p_stiffness);
@ -274,12 +304,6 @@ public:
void set_external_force(const Vector3 &p_force);
Vector3 get_external_force() const;
// Helper.
static Quaternion get_local_pose_rotation(Skeleton3D *p_skeleton, int p_bone, const Quaternion &p_global_pose_rotation);
static Quaternion get_from_to_rotation(const Vector3 &p_from, const Vector3 &p_to, const Quaternion &p_prev_rot);
static Vector3 snap_position_to_plane(const Transform3D &p_rest, RotationAxis p_axis, const Vector3 &p_position);
static Vector3 limit_length(const Vector3 &p_origin, const Vector3 &p_destination, float p_length);
// To process manually.
void reset();