Skip to content

Commit

Permalink
git subrepo pull (merge) modules/many_bone_ik
Browse files Browse the repository at this point in the history 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "e4554ed702"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "acf247b19a"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "110b9eb"
  • Loading branch information
@fire
fire committed Dec 9, 2023
2 parents dc3c4b7 + acf247b commit c3a1ae1
Show file tree
Hide file tree
Showing 2 changed files with 21 additions and 23 deletions.
28 changes: 13 additions & 15 deletions src/ik_limit_cone_3d.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -30,12 +30,10 @@

#include "ik_limit_cone_3d.h"

#include "core/error/error_macros.h"
#include "core/math/quaternion.h"
#include "ik_kusudama_3d.h"

#include "core/io/resource.h"
#include "core/object/ref_counted.h"

void IKLimitCone3D::update_tangent_handles(Ref<IKLimitCone3D> p_next) {
if (p_next.is_valid()) {
Expand Down Expand Up @@ -109,10 +107,10 @@ void IKLimitCone3D::update_tangent_handles(Ref<IKLimitCone3D> p_next) {

set_tangent_circle_center_next_1(sphereIntersect1);
set_tangent_circle_center_next_2(sphereIntersect2);
set_tangent_circle_radius_next(tRadius);
_set_tangent_circle_radius_next(tRadius);
}
if (tangent_circle_center_next_1 == Vector3(NAN, NAN, NAN)) {
tangent_circle_center_next_1 = get_orthogonal(control_point).normalized();
tangent_circle_center_next_1 = _get_orthogonal(control_point).normalized();
}
if (tangent_circle_center_next_2 == Vector3(NAN, NAN, NAN)) {
tangent_circle_center_next_2 = (tangent_circle_center_next_1 * -1).normalized();
Expand All @@ -122,7 +120,7 @@ void IKLimitCone3D::update_tangent_handles(Ref<IKLimitCone3D> p_next) {
}
}

void IKLimitCone3D::set_tangent_circle_radius_next(double rad) {
void IKLimitCone3D::_set_tangent_circle_radius_next(double rad) {
tangent_circle_radius_next = rad;
tangent_circle_radius_next_cos = cos(tangent_circle_radius_next);
}
Expand All @@ -135,7 +133,7 @@ double IKLimitCone3D::get_tangent_circle_radius_next() {
return tangent_circle_radius_next;
}

double IKLimitCone3D::get_tangent_circle_radius_next_cos() {
double IKLimitCone3D::_get_tangent_circle_radius_next_cos() {
return tangent_circle_radius_next_cos;
}

Expand Down Expand Up @@ -186,7 +184,7 @@ void IKLimitCone3D::set_radius(double p_radius) {
radius_cosine = cos(p_radius);
}

bool IKLimitCone3D::determine_if_in_bounds(Ref<IKLimitCone3D> next, Vector3 input) const {
bool IKLimitCone3D::_determine_if_in_bounds(Ref<IKLimitCone3D> next, Vector3 input) const {
/**
* Procedure : Check if input is contained in this cone, or the next cone
* if it is, then we're finished and in bounds. otherwise,
Expand Down Expand Up @@ -241,26 +239,26 @@ bool IKLimitCone3D::determine_if_in_bounds(Ref<IKLimitCone3D> next, Vector3 inpu
}

Vector3 IKLimitCone3D::get_closest_path_point(Ref<IKLimitCone3D> next, Vector3 input) const {
Vector3 result = get_on_path_sequence(next, input);
Vector3 result = _get_on_path_sequence(next, input);
bool is_number = !(Math::is_nan(result.x) && Math::is_nan(result.y) && Math::is_nan(result.z));
if (!is_number) {
result = closest_cone(next, input);
result = _closest_cone(next, input);
}
return result;
}

Vector3 IKLimitCone3D::get_closest_collision(Ref<IKLimitCone3D> next, Vector3 input) const {
Vector3 IKLimitCone3D::_get_closest_collision(Ref<IKLimitCone3D> next, Vector3 input) const {
Vector3 result = get_on_great_tangent_triangle(next, input);

bool is_number = !(Math::is_nan(result.x) && Math::is_nan(result.y) && Math::is_nan(result.z));
if (!is_number) {
Vector<double> in_bounds = { 0.0 };
result = closest_point_on_closest_cone(next, input, &in_bounds);
result = _closest_point_on_closest_cone(next, input, &in_bounds);
}
return result;
}

Vector3 IKLimitCone3D::get_orthogonal(Vector3 p_in) {
Vector3 IKLimitCone3D::_get_orthogonal(Vector3 p_in) {
Vector3 result;
float threshold = p_in.length() * 0.6f;
if (threshold > 0.f) {
Expand Down Expand Up @@ -323,15 +321,15 @@ Vector3 IKLimitCone3D::get_on_great_tangent_triangle(Ref<IKLimitCone3D> next, Ve
}
}

Vector3 IKLimitCone3D::closest_cone(Ref<IKLimitCone3D> next, Vector3 input) const {
Vector3 IKLimitCone3D::_closest_cone(Ref<IKLimitCone3D> next, Vector3 input) const {
if (input.dot(control_point) > input.dot(next->control_point)) {
return control_point;
} else {
return next->control_point;
}
}

Vector3 IKLimitCone3D::closest_point_on_closest_cone(Ref<IKLimitCone3D> next, Vector3 input, Vector<double> *in_bounds) const {
Vector3 IKLimitCone3D::_closest_point_on_closest_cone(Ref<IKLimitCone3D> next, Vector3 input, Vector<double> *in_bounds) const {
Vector3 closestToFirst = closest_to_cone(input, in_bounds);
if ((*in_bounds)[0] > 0.0) {
return closestToFirst;
Expand Down Expand Up @@ -379,7 +377,7 @@ void IKLimitCone3D::set_tangent_circle_center_next_2(Vector3 point) {
tangent_circle_center_next_2 = point.normalized();
}

Vector3 IKLimitCone3D::get_on_path_sequence(Ref<IKLimitCone3D> next, Vector3 input) const {
Vector3 IKLimitCone3D::_get_on_path_sequence(Ref<IKLimitCone3D> next, Vector3 input) const {
Vector3 c1xc2 = get_control_point().cross(next->control_point).normalized();
double c1c2dir = input.dot(c1xc2);
if (c1c2dir < 0.0) {
Expand Down
16 changes: 8 additions & 8 deletions src/ik_limit_cone_3d.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ class IKLimitCone3D : public Resource {
// Radius stored as cosine to save on the acos call necessary for the angle between.
double radius_cosine = 0;
double radius = 0;
Vector3 closest_cone(Ref<IKLimitCone3D> next, Vector3 input) const;
void set_tangent_circle_radius_next(double rad);
Vector3 _closest_cone(Ref<IKLimitCone3D> next, Vector3 input) const;
void _set_tangent_circle_radius_next(double rad);
Ref<IKKusudama3D> parent_kusudama;

Vector3 tangent_circle_center_next_1;
Expand All @@ -70,7 +70,7 @@ class IKLimitCone3D : public Resource {
* @return null if the input point is already in bounds, or the point's rectified position
* if the point was out of bounds.
*/
Vector3 get_closest_collision(Ref<IKLimitCone3D> next, Vector3 input) const;
Vector3 _get_closest_collision(Ref<IKLimitCone3D> next, Vector3 input) const;

/**
* Determines if a ray emanating from the origin to given point in local space
Expand All @@ -82,8 +82,8 @@ class IKLimitCone3D : public Resource {
* @param input
* @return
*/
bool determine_if_in_bounds(Ref<IKLimitCone3D> next, Vector3 input) const;
Vector3 get_on_path_sequence(Ref<IKLimitCone3D> next, Vector3 input) const;
bool _determine_if_in_bounds(Ref<IKLimitCone3D> next, Vector3 input) const;
Vector3 _get_on_path_sequence(Ref<IKLimitCone3D> next, Vector3 input) const;

/**
* returns null if no rectification is required.
Expand All @@ -92,10 +92,10 @@ class IKLimitCone3D : public Resource {
* @param in_bounds
* @return
*/
Vector3 closest_point_on_closest_cone(Ref<IKLimitCone3D> next, Vector3 input, Vector<double> *in_bounds) const;
Vector3 _closest_point_on_closest_cone(Ref<IKLimitCone3D> next, Vector3 input, Vector<double> *in_bounds) const;

double get_tangent_circle_radius_next_cos();
static Vector3 get_orthogonal(Vector3 p_in);
double _get_tangent_circle_radius_next_cos();
static Vector3 _get_orthogonal(Vector3 p_in);

protected:
double _get_radius();
Expand Down

0 comments on commit c3a1ae1

Please sign in to comment.