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Solve skeletal inverse kinematic poses with constraints #90316

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Solve skeletal inverse kinematic poses with constraints #90316

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@fire fire commented Apr 6, 2024 •
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Main work will be in https://github.com/V-Sekai/many_bone_ik

Fixes: godotengine/godot-proposals#6039

Supersedes: #70887

Part of V-Sekai https://github.com/v-sekai/v-sekai-game

A list of todos

  • Fully constraint test project from All inverse kinematic options in Godot 4 seem broken #69752
  • Add cone handle adjust radius and spherical surface position with a distance of 1 from the spotlight3d
  • Do a dance.
  • BETTER UIUX BLOCKER
  • Make 10 second video 640x480px
  • Mark experimental
  • Based on SkeletonModifier3D
  • Has massively less jitter.

@AThousandShips AThousandShips added this to the 4.x milestone Apr 7, 2024
@fire fire force-pushed the vsk-many-bone-ik-4.3 branch 2 times, most recently from 6413798 to 633455e Compare May 6, 2024 05:59
@fire fire force-pushed the vsk-many-bone-ik-4.3 branch 3 times, most recently from 2fb8aab to 6412677 Compare June 4, 2024 20:10
@fire
git subrepo clone https://github.com/V-Sekai/many_bone_ik.git modules…
1424936 
…/many_bone_ik

subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "55a8585241"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "55a8585241"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire fire force-pushed the vsk-many-bone-ik-4.3 branch from 020f19b to 1424936 Compare June 4, 2024 20:33
fire added 19 commits June 4, 2024 13:36
@fire
Updated z-coordinate calculation in vertex function
3d3f459 
The z-coordinate calculation in the vertex function of both many_bone_ik_3d_gizmo_plugin.cpp and many_bone_ik_shader.h has been updated for reverse-z.
@fire
git subrepo push modules/many_bone_ik
a7a5360 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "3f203c6757"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "3f203c6757"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Revert "Updated z-coordinate calculation in vertex function"
e66a4f2 
This reverts commit 3d3f459.
@fire
git subrepo push modules/many_bone_ik
b5b98e6 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "d093733570"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "d093733570"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Restore overlay calculation in 3D gizmo plugin
8a4f8e0
@fire
git subrepo push modules/many_bone_ik
477d2a3 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "276d587245"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "276d587245"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Refined test conditions in IK Kusudama 3D module
33798fe
@fire
git subrepo push modules/many_bone_ik
d3f67ef 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "cb04ae824b"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "cb04ae824b"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Renamed 'passthrough_factor' to 'motion_propagation_factor'
768abe7 
Set factor to 1.0.
@fire
git subrepo push modules/many_bone_ik
9843f97 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "cae366ea2f"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "cae366ea2f"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Updated vector direction in ManyBoneIK3D
f17f170 
The vector direction for kusudama_open_cones in the add_constraint function of ManyBoneIK3D has been updated. The y-coordinate value has been changed from 1 to -1, effectively flipping the direction of the vector.
@fire
git subrepo push modules/many_bone_ik
3814f71 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "f651735e9e"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "f651735e9e"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Updated vector direction and simplified basis transformation
db2a2a1
@fire
git subrepo push modules/many_bone_ik
cc6e53b 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "901a112370"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "901a112370"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Updated vector values in ManyBoneIK3D module
1989251
@fire
Removed debug skeleton functionality
0b44a17
@fire
git subrepo push modules/many_bone_ik
d4fb26e 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "60a88915d7"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "60a88915d7"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Removed the queue_print_skeleton
6baa18b
@fire
git subrepo push modules/many_bone_ik
6ceccca 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "31749209c7"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "31749209c7"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
fire added 23 commits June 4, 2024 15:36
@fire
Removed skeleton print queue method
95d6bef
@fire
git subrepo push modules/many_bone_ik
5ad1c02 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "1405dde4c5"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "1405dde4c5"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Refactor radius retrieval in IKLimitCone3D
10ecabf
@fire
git subrepo push modules/many_bone_ik
435aa80 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "3243f17717"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "3243f17717"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Refactor IKLimitCone3D update method
2243f88 
The update_tangent_handles method in the IKLimitCone3D class has been refactored for better readability and efficiency.
@fire
git subrepo push modules/many_bone_ik
cf82fa9 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "d95333f449"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "d95333f449"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Removed unnecessary setting of tangent circle centers in the ManyBone…
00b5f69 
…IK3D module.
@fire
Direct assignment using orthogonal vector computations.
3755042
@fire
Restore smooth tangents.
4502def
@fire
git subrepo push modules/many_bone_ik
7c5b884 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "c70295ce85"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "c70295ce85"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Added method to set effector count
f4869bf
@fire
git subrepo push modules/many_bone_ik
2328675 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "2fee23413e"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "2fee23413e"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Refactor rotation calculation in IK bone segment
c78f8ea
@fire
git subrepo push modules/many_bone_ik
c301232 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "e168434ed2"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "e168434ed2"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Refactor IK module and remove unused code
2aa5adf
@fire
git subrepo push modules/many_bone_ik
9dff5fe 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "f6a7ea91d4"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "f6a7ea91d4"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Updated IK class name in config
7b7d7fa
@fire
Updated IKEffector3D documentation
a5f71b1 
Enhanced the explanation for 'motion_propagation_factor' in IKEffector3D
@fire
git subrepo push modules/many_bone_ik
ef62dc1 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "d7a299fa7f"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "d7a299fa7f"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
Introduced 3D cone for inverse kinematics into documentation.
bf6c46b
@fire
git subrepo push modules/many_bone_ik
f1d7384 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "6c7dd4c1b6"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "6c7dd4c1b6"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
git subrepo pull modules/many_bone_ik
a66d629 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "a0cb6aadead"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "a0cb6aadead"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
@fire
git subrepo pull modules/many_bone_ik
3fc97a9 
subrepo:
  subdir:   "modules/many_bone_ik"
  merged:   "ddc539e515"
upstream:
  origin:   "https://github.com/V-Sekai/many_bone_ik.git"
  branch:   "main"
  commit:   "ddc539e515"
git-subrepo:
  version:  "0.4.6"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "73a0129"
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Solve generalized skeleton poses with Many Bone IK
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@fire @AThousandShips