Refactor bone constraints setup and cleanup

Aligned the rotation so the bone front is not the MODEL_TOP but is the MODEL_front.
V-Sekai · Nov 4, 2023 · 08329ef · 08329ef
1 parent 1d96861
commit 08329ef
Showing 1 changed file with 77 additions and 71 deletions.
diff --git a/sample/many_bone_ik_setup.gd b/sample/many_bone_ik_setup.gd
@@ -74,7 +74,6 @@ func _run():
 	var skeleton_profile: SkeletonProfileHumanoid = SkeletonProfileHumanoid.new()
 	many_bone_ik.reset_constraints()
 	for bone_name_i in skeleton.get_bone_count():
-		break
 		var bone_name = skeleton.get_bone_name(bone_name_i)
 		var swing_limit_cones = []
 		var bone_i = skeleton_profile.find_bone(bone_name)
@@ -86,88 +85,95 @@ func _run():
 		if bone_name == "Hips":
 			twist_from = deg_to_rad(0.0)
 			twist_range = deg_to_rad(360)
-			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(3.0)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(3.0)))
 			resistance = 0.5
 		elif bone_name == "Spine":
 			twist_from = deg_to_rad(4.0)
 			twist_range = deg_to_rad(360)
 			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(3.0)))
 			resistance = 0.5
-		#elif bone_name == "Chest":
-			#twist_from = deg_to_rad(5.0)
-			#twist_range = deg_to_rad(-10.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(3.0)))
-			#resistance = 0.5
-		#elif bone_name == "UpperChest":
-			#twist_from = deg_to_rad(10.0)
-			#twist_range = deg_to_rad(40.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(10.0)))
-			#resistance = 0.6
-		#elif bone_name == "Neck":
-			#twist_from = deg_to_rad(15.0)
-			#twist_range = deg_to_rad(15.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(10.0)))
-			#resistance = 0.6
-		#elif bone_name == "Head":
-			#twist_from = deg_to_rad(15.0)
-			#twist_range = deg_to_rad(15.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(15.0)))
-			#resistance = 0.7
-		#elif bone_name.ends_with("Eye"):
-			#pass
-		#elif bone_name == "LeftUpperLeg":
-			#twist_from = deg_to_rad(300.0)
-			#twist_range = deg_to_rad(10.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(25.0)))
-			#resistance = 0.8
-		#elif bone_name == "LeftLowerLeg":
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-		#elif bone_name == "RightUpperLeg":
-			#twist_from = deg_to_rad(300.0)
-			#twist_range = deg_to_rad(10.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(25.0)))
-			#resistance = 0.8
-		#elif bone_name == "RightLowerLeg":
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
-		#elif bone_name in ["LeftFoot", "RightFoot"]:
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_BOTTOM, deg_to_rad(5.0)))
-		#elif bone_name in ["LeftShoulder", "RightShoulder"]:
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(30.0)))
-		#elif bone_name in ["LeftUpperArm", "RightUpperArm"]:
-			#twist_from = deg_to_rad(80.0)
-			#twist_range = deg_to_rad(12.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(90.0)))
-			#resistance = 0.3
-		#elif bone_name == "LeftLowerArm":
-			#twist_from = deg_to_rad(-55.0)
-			#twist_range = deg_to_rad(50.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
-			#resistance = 0.4
-		#elif bone_name == "RightLowerArm":
-			#twist_from = deg_to_rad(-145.0)
-			#twist_range = deg_to_rad(50.0)
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
-			#resistance = 0.4
-		#elif bone_name in ["LeftHand", "RightHand"]:
-			#swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(60.0)))
-		##elif bone_name in ["LeftThumb", "RightThumb"]:
-			##swing_limit_cones.append(LimitCone.new(y_up, deg_to_rad(90.0)))
+		elif bone_name == "Chest":
+			twist_from = deg_to_rad(5.0)
+			twist_range = deg_to_rad(-10.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(3.0)))
+			resistance = 0.5
+		elif bone_name == "UpperChest":
+			twist_from = deg_to_rad(10.0)
+			twist_range = deg_to_rad(40.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(10.0)))
+			resistance = 0.6
+		elif bone_name == "Neck":
+			twist_from = deg_to_rad(15.0)
+			twist_range = deg_to_rad(15.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(10.0)))
+			resistance = 0.6
+		elif bone_name == "Head":
+			twist_from = deg_to_rad(15.0)
+			twist_range = deg_to_rad(15.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(15.0)))
+			resistance = 0.7
+		elif bone_name.find("Eye") != -1:
+			continue
+		elif bone_name == "LeftUpperLeg":
+			twist_from = deg_to_rad(300.0)
+			twist_range = deg_to_rad(10.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(25.0)))
+			resistance = 0.8
+		elif bone_name == "LeftLowerLeg":
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_TOP, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
+		elif bone_name == "RightUpperLeg":
+			twist_from = deg_to_rad(300.0)
+			twist_range = deg_to_rad(10.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(25.0)))
+			resistance = 0.8
+		elif bone_name == "RightLowerLeg":
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_TOP, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
+		elif bone_name in ["LeftFoot", "RightFoot"]:
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(5.0)))
+		elif bone_name in ["LeftShoulder", "RightShoulder"]:
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(30.0)))
+		elif bone_name in ["LeftUpperArm", "RightUpperArm"]:
+			twist_from = deg_to_rad(80.0)
+			twist_range = deg_to_rad(12.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(90.0)))
+			resistance = 0.3
+		elif bone_name == "LeftLowerArm":
+			twist_from = deg_to_rad(-55.0)
+			twist_range = deg_to_rad(50.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_RIGHT, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
+			resistance = 0.4
+		elif bone_name == "RightLowerArm":
+			twist_from = deg_to_rad(-145.0)
+			twist_range = deg_to_rad(50.0)
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(2.5)))
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_REAR, deg_to_rad(2.5)))
+			resistance = 0.4
+		elif bone_name in ["LeftHand", "RightHand"]:
+			swing_limit_cones.append(LimitCone.new(Vector3.MODEL_FRONT, deg_to_rad(60.0)))
+		#elif bone_name in ["LeftThumb", "RightThumb"]:
+			#swing_limit_cones.append(LimitCone.new(y_up, deg_to_rad(90.0)))
+		else:
+			continue
 		set_bone_constraint(many_bone_ik, bone_name, twist_from, twist_range, swing_limit_cones, resistance)
 	var bones: Array = [
 		"Root",
+		"Chest",
 		"Head",
+		"LeftShoulder",
 		"LeftHand",
+		"RightShoulder",
 		"RightHand",
+		"LeftLowerLeg",
 		"LeftFoot",
-		"RightFoot"
+		"RightLowerLeg",
+		"RightFoot",
 	]
 
 	many_bone_ik.set_pin_count(0)
@@ -176,7 +182,7 @@ func _run():
 	var children: Array[Node] = root.find_children("*", "Marker3D")
 	for i in range(children.size()):
 		var node: Node = children[i] as Node
-		node.queue_free()
+		node.free()
 
 	for pin_i in range(bones.size()):
 		var bone_name: String = bones[pin_i]