Ballhead constraints for FABRIK #62003
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| @@ -75,6 +78,10 @@ class SkeletonModification3DFABRIK : public SkeletonModification3D { | |||
| void chain_forwards(); | |||
| void chain_apply(); | |||
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| Vector3 chain_ball_constraint(int i); | |||
| Vector3 getAngleLimitedUnitVectorDegs(const Vector3 &vecToLimit, const Vector3 &vecBaseline, real_t angleLimitDegs); | |||
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godot is get_angle_limited_unit_vector and also uses radians by convention.
| Vector3 SkeletonModification3DFABRIK::getAngleLimitedUnitVectorDegs(const Vector3 &vecToLimit, const Vector3 &vecBaseline, real_t angleLimitDegs) { | ||
| // Get the angle between the two vectors | ||
| // Note: This will ALWAYS be a positive value between 0 and 180 degrees. | ||
| float angleBetweenVectorsDegs = getAngleBetweenDegs(vecBaseline, vecToLimit); |
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getAngleBetweenDegs -> get_angle_between_degs
Please correct the naming conventions.
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https://github.com/godotengine/godot/runs/6867213499 is failing a task, but I am not able to reproduce the reason why this is the case. I modified the source as requested by the revisions. |
did you test it ? |
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The last version on my branch does not work, there were some problems with indices which I later solved but never pushed. Still, I was not satisfied by that implementation, and I continued working on a more general way to integrate different types of constraint and the related UI. The main issue is that some of those I would like to integrate are not as easy on FABRIK and could cause numerical instabilities. |
no problem at all, I was just checking because I don't think that my code is that good, I am too learning about the IK stuff, thanks for putting time and work into these stuff. |
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Can you share your thinking of the current Godot4 IK? Is there progress? |
A copy of #61994 to better follow the guidelines about rebasing.
Not to be merged yet, as I have not been able to really test its functionality.
godotengine/godot-proposals#750 (comment)
The author referenced a solution of ballhead constraint on the inverse kinematic model for FABRIK. I just ported its code and integrated it in the GUI of Godot.
Any external evaluation is very welcome.