diff --git a/doc/classes/Skeleton.xml b/doc/classes/Skeleton.xml
index 244cb29b7bfb..5563c477f9a0 100644
--- a/doc/classes/Skeleton.xml
+++ b/doc/classes/Skeleton.xml
@@ -80,6 +80,15 @@
Returns the overall transform of the specified bone, with respect to the skeleton. Being relative to the skeleton frame, this is not the actual "global" transform of the bone.
+
+
+
+
+
+
+ Returns the overall transform of the specified bone, with respect to the skeleton, but without any global pose overrides. Being relative to the skeleton frame, this is not the actual "global" transform of the bone.
+
+
diff --git a/scene/3d/skeleton.cpp b/scene/3d/skeleton.cpp
index 93370acb06a7..6f303e9aecfa 100644
--- a/scene/3d/skeleton.cpp
+++ b/scene/3d/skeleton.cpp
@@ -236,51 +236,54 @@ void Skeleton::_notification(int p_what) {
for (int i = 0; i < len; i++) {
Bone &b = bonesptr[order[i]];
- if (b.global_pose_override_amount >= 0.999) {
- b.pose_global = b.global_pose_override;
+ if (b.disable_rest) {
+ if (b.enabled) {
+ Transform pose = b.pose;
+ if (b.custom_pose_enable) {
+ pose = b.custom_pose * pose;
+ }
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global * pose;
+ b.pose_global_no_override = bonesptr[b.parent].pose_global_no_override * pose;
+ } else {
+ b.pose_global = pose;
+ b.pose_global_no_override = pose;
+ }
+ } else {
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global;
+ b.pose_global_no_override = bonesptr[b.parent].pose_global_no_override;
+ } else {
+ b.pose_global = Transform();
+ b.pose_global_no_override = Transform();
+ }
+ }
} else {
- if (b.disable_rest) {
- if (b.enabled) {
- Transform pose = b.pose;
- if (b.custom_pose_enable) {
- pose = b.custom_pose * pose;
- }
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global * pose;
- } else {
- b.pose_global = pose;
- }
+ if (b.enabled) {
+ Transform pose = b.pose;
+ if (b.custom_pose_enable) {
+ pose = b.custom_pose * pose;
+ }
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global * (b.rest * pose);
+ b.pose_global_no_override = bonesptr[b.parent].pose_global_no_override * (b.rest * pose);
} else {
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global;
- } else {
- b.pose_global = Transform();
- }
+ b.pose_global = b.rest * pose;
+ b.pose_global_no_override = b.rest * pose;
}
-
} else {
- if (b.enabled) {
- Transform pose = b.pose;
- if (b.custom_pose_enable) {
- pose = b.custom_pose * pose;
- }
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global * (b.rest * pose);
- } else {
- b.pose_global = b.rest * pose;
- }
+ if (b.parent >= 0) {
+ b.pose_global = bonesptr[b.parent].pose_global * b.rest;
+ b.pose_global_no_override = bonesptr[b.parent].pose_global_no_override * b.rest;
} else {
- if (b.parent >= 0) {
- b.pose_global = bonesptr[b.parent].pose_global * b.rest;
- } else {
- b.pose_global = b.rest;
- }
+ b.pose_global = b.rest;
+ b.pose_global_no_override = b.rest;
}
}
+ }
- if (b.global_pose_override_amount >= CMP_EPSILON) {
- b.pose_global = b.pose_global.interpolate_with(b.global_pose_override, b.global_pose_override_amount);
- }
+ if (b.global_pose_override_amount >= CMP_EPSILON) {
+ b.pose_global = b.pose_global.interpolate_with(b.global_pose_override, b.global_pose_override_amount);
}
if (b.global_pose_override_reset) {
@@ -382,6 +385,13 @@ Transform Skeleton::get_bone_global_pose(int p_bone) const {
return bones[p_bone].pose_global;
}
+Transform Skeleton::get_bone_global_pose_no_override(int p_bone) const {
+ ERR_FAIL_INDEX_V(p_bone, bones.size(), Transform());
+ if (dirty)
+ const_cast(this)->notification(NOTIFICATION_UPDATE_SKELETON);
+ return bones[p_bone].pose_global_no_override;
+}
+
// skeleton creation api
void Skeleton::add_bone(const String &p_name) {
ERR_FAIL_COND(p_name == "" || p_name.find(":") != -1 || p_name.find("/") != -1);
@@ -848,6 +858,7 @@ void Skeleton::_bind_methods() {
ClassDB::bind_method(D_METHOD("clear_bones_global_pose_override"), &Skeleton::clear_bones_global_pose_override);
ClassDB::bind_method(D_METHOD("set_bone_global_pose_override", "bone_idx", "pose", "amount", "persistent"), &Skeleton::set_bone_global_pose_override, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_bone_global_pose", "bone_idx"), &Skeleton::get_bone_global_pose);
+ ClassDB::bind_method(D_METHOD("get_bone_global_pose_no_override", "bone_idx"), &Skeleton::get_bone_global_pose_no_override);
ClassDB::bind_method(D_METHOD("get_bone_custom_pose", "bone_idx"), &Skeleton::get_bone_custom_pose);
ClassDB::bind_method(D_METHOD("set_bone_custom_pose", "bone_idx", "custom_pose"), &Skeleton::set_bone_custom_pose);
diff --git a/scene/3d/skeleton.h b/scene/3d/skeleton.h
index dc2fa4204e5a..96dcc7dd53e0 100644
--- a/scene/3d/skeleton.h
+++ b/scene/3d/skeleton.h
@@ -88,6 +88,7 @@ class Skeleton : public Spatial {
Transform pose;
Transform pose_global;
+ Transform pose_global_no_override;
bool custom_pose_enable;
Transform custom_pose;
@@ -174,6 +175,7 @@ class Skeleton : public Spatial {
void set_bone_rest(int p_bone, const Transform &p_rest);
Transform get_bone_rest(int p_bone) const;
Transform get_bone_global_pose(int p_bone) const;
+ Transform get_bone_global_pose_no_override(int p_bone) const;
void clear_bones_global_pose_override();
void set_bone_global_pose_override(int p_bone, const Transform &p_pose, float p_amount, bool p_persistent = false);
diff --git a/scene/animation/skeleton_ik.cpp b/scene/animation/skeleton_ik.cpp
index c414b6f5192f..ba9ec0bbcb30 100644
--- a/scene/animation/skeleton_ik.cpp
+++ b/scene/animation/skeleton_ik.cpp
@@ -246,7 +246,7 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_
p_task->end_effectors.write[0].goal_transform = p_inverse_transf * p_task->goal_global_transform;
} else {
// End effector in local transform
- const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors[0].tip_bone));
+ const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose_no_override(p_task->end_effectors[0].tip_bone));
// Update the end_effector (local transform) by blending with current pose
p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
@@ -270,18 +270,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
return; // Skip solving
}
- p_task->skeleton->set_bone_global_pose_override(p_task->chain.chain_root.bone, Transform(), 0.0, true);
-
- if (p_task->chain.middle_chain_item) {
- p_task->skeleton->set_bone_global_pose_override(p_task->chain.middle_chain_item->bone, Transform(), 0.0, true);
- }
-
- for (int i = 0; i < p_task->chain.tips.size(); i += 1) {
- p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true);
- }
-
- // Update the initial root transform
- // (Needed to sync IK with animation)
+ // Update the initial root transform so its synced with any animation changes
_update_chain(p_task->skeleton, &p_task->chain.chain_root);
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta);
@@ -298,49 +287,22 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
Transform new_bone_pose(ci->initial_transform);
new_bone_pose.origin = ci->current_pos;
- // The root bone needs to be rotated differently so it isn't frozen in place
- if (ci == &p_task->chain.chain_root && !ci->children.empty()) {
- new_bone_pose = new_bone_pose.looking_at(ci->children[0].current_pos, Vector3(0, 1, 0));
- const Vector3 bone_rest_dir = p_task->skeleton->get_bone_rest(ci->children[0].bone).origin.normalized().abs();
- const Vector3 bone_rest_dir_abs = bone_rest_dir.abs();
- if (bone_rest_dir_abs.x > bone_rest_dir_abs.y && bone_rest_dir_abs.x > bone_rest_dir_abs.z) {
- if (bone_rest_dir.x < 0) {
- new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), -Math_PI / 2.0f);
- } else {
- new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), Math_PI / 2.0f);
- }
- } else if (bone_rest_dir_abs.y > bone_rest_dir_abs.x && bone_rest_dir_abs.y > bone_rest_dir_abs.z) {
- if (bone_rest_dir.y < 0) {
- new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), Math_PI / 2.0f);
- } else {
- new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), -Math_PI / 2.0f);
- }
- } else {
- if (bone_rest_dir.z < 0) {
- // Do nothing!
- } else {
- new_bone_pose.basis.rotate_local(Vector3(0, 0, 1), Math_PI);
- }
- }
- } else {
- if (!ci->children.empty()) {
- /// Rotate basis
- const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized());
- const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized());
-
- if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
- const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
- new_bone_pose.basis.rotate(rot_axis, rot_angle);
- }
+ if (!ci->children.empty()) {
+ /// Rotate basis
+ const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized());
+ const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized());
- } else {
- // Set target orientation to tip
- if (override_tip_basis) {
- new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
- } else {
- new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
- }
+ if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
+ const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
+ new_bone_pose.basis.rotate(rot_axis, rot_angle);
}
+
+ } else {
+ // Set target orientation to tip
+ if (override_tip_basis)
+ new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
+ else
+ new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
}
// IK should not affect scale, so undo any scaling
@@ -362,7 +324,7 @@ void FabrikInverseKinematic::_update_chain(const Skeleton *p_sk, ChainItem *p_ch
return;
}
- p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone);
+ p_chain_item->initial_transform = p_sk->get_bone_global_pose_no_override(p_chain_item->bone);
p_chain_item->current_pos = p_chain_item->initial_transform.origin;
ChainItem *items = p_chain_item->children.ptrw();