Merge pull request #177 from V-Sekai/update-planner

Update renik
V-Sekai · Jul 21, 2024 · c08c1b9 · c08c1b9
2 parents c82063c + b3a206d
commit c08c1b9
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Showing 5 changed files with 28 additions and 76 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -7,41 +7,14 @@
     }
   },
   "configurations": [
-    {
-      "name": "Run the editor with V-Sekai game windows",
-      "type": "lldb",
-      "request": "launch",
-      "args": ["--path", "${workspaceFolder}/11_vsekai_game", "-e"],
-      "cwd": "${workspaceFolder}",
-      "program": "${workspaceFolder}/19_godot/bin/godot.windows.editor.double.x86_64.llvm.console.exe",
-      "preLaunchTask": "Godot Engine"
-    },
     {
       "name": "Run the editor with V-Sekai game macos",
       "type": "lldb",
       "request": "launch",
-      "args": ["--path", "${workspaceFolder}/11_vsekai_game", "-e"],
+      "args": ["--path", "/Users/ernest.lee/Documents/godot-merge-game-project", "-e"],
       "cwd": "${workspaceFolder}",
       "program": "${workspaceFolder}/19_godot/bin/godot.macos.editor.double.arm64",
       "preLaunchTask": "Godot Engine"
     },
-    {
-      "name": "Run the editor with V-Sekai planner macos",
-      "type": "lldb",
-      "request": "launch",
-      "args": ["--path", "${workspaceFolder}/14_planner", "-e"],
-      "cwd": "${workspaceFolder}",
-      "program": "${workspaceFolder}/19_godot/bin/godot.macos.editor.double.arm64",
-      "preLaunchTask": "Godot Engine"
-    },
-    {
-      "name": "Run the editor with V-Sekai planner windows",
-      "type": "lldb",
-      "request": "launch",
-      "args": ["--path", "${workspaceFolder}/14_planner", "-e"],
-      "cwd": "${workspaceFolder}",
-      "program": "${workspaceFolder}/19_godot/bin/godot.windows.editor.double.x86_64.llvm.console.exe",
-      "preLaunchTask": "Godot Engine"
-    },
   ]
 }
diff --git a/19_godot/modules/renik/.gitrepo b/19_godot/modules/renik/.gitrepo
@@ -6,7 +6,7 @@
 [subrepo]
 	remote = https://github.com/V-Sekai/renik.git
 	branch = master
-	commit = 898fc6dec2fa448cf8fb2e80f75d8a4ee7192a81
-	parent = 20a73bceaf61829fce708a1d3e91d43a6bf8f226
+	commit = a0066245e5c1132dd0301689cd8705cfeae42ef4
+	parent = 16f4e596b3c232f928cadea385c19ae86db5046a
 	method = merge
 	cmdver = 0.4.6
diff --git a/19_godot/modules/renik/renik.cpp b/19_godot/modules/renik/renik.cpp
@@ -1320,25 +1320,31 @@ void RenIK::_notification(int p_what) {
 			right_shoulder_pole_offset = Vector3(Math::deg_to_rad(0.0), Math::deg_to_rad(0.0),
 					Math::deg_to_rad(-78.0));
 			spine_chain.instantiate();
-			spine_chain->init(Vector3(0, 15, -15), 0.5, 0.5, 1, 0);
+			spine_chain->init(Vector3(0.0, 15, -15), 0.5, 0.5, 1, 0);
 			limb_arm_left.instantiate();
-			limb_arm_left->init(0, 0, Math::deg_to_rad(80.0), 0.5, 0,
-					Math::deg_to_rad(-180.0), Math::deg_to_rad(45.0), 0.33,
-					Vector3(Math::deg_to_rad(15.0), 0, Math::deg_to_rad(60.0)),
-					Vector3(2.0, -1.5, -1.0));
 			limb_arm_right.instantiate();
-			limb_arm_right->init(0, 0, Math::deg_to_rad(80.0), 0.5, 0,
-					Math::deg_to_rad(-180.0), Math::deg_to_rad(45.0), 0.33,
-					Vector3(Math::deg_to_rad(15.0), 0, Math::deg_to_rad(-60.0)),
-					Vector3(2.0, 1.5, 1.0));
+			set_arm_upper_twist_offset(190.0);
+			set_arm_lower_twist_offset(-60);
+			set_arm_roll_offset(270.0);
+			set_arm_upper_limb_twist(50);
+			set_arm_lower_limb_twist(90);
+			set_arm_twist_inflection_point_offset(-180.0);
+			set_arm_twist_overflow(45.0);
+			set_arm_target_rotation_influence(0.33);
+			set_arm_pole_offset(Vector3(15.0, 0, 60.0));
+			set_arm_target_position_influence(Vector3(2.0, -1.5, -1.0));
 			limb_leg_left.instantiate();
-			limb_leg_left->init(0, Math::deg_to_rad(-180.0), 0, 0.25, 0.25, 0, Math::deg_to_rad(45.0), 0.5,
-					Vector3(0, 0, Math_PI), Vector3());
 			limb_leg_right.instantiate();
-			limb_leg_right->init(0, Math::deg_to_rad(-180.0), 0, 0.25, 0.25, 0, Math::deg_to_rad(45.0), 0.5,
-					Vector3(0, 0, -Math_PI), Vector3());
+			set_leg_upper_twist_offset(0);
+			set_leg_lower_twist_offset(-180.0);
+			set_leg_roll_offset(0);
+			set_leg_upper_limb_twist(50);
+			set_leg_lower_limb_twist(90);
+			set_leg_twist_inflection_point_offset(0);
+			set_leg_twist_overflow(45.0);
+			set_leg_target_rotation_influence(0.5);
 			set_leg_pole_offset(Vector3(0, 0, 180));
-			set_arm_pole_offset(Vector3(15, 0, 60));
+			set_leg_target_position_influence(Vector3());
 		} break;
 		case NOTIFICATION_READY: {
 			_initialize();
@@ -1531,28 +1537,26 @@ RenIK::SpineTransforms RenIK::perform_torso_ik() {
 							spine_chain->get_joints()[0].relative_prev));
 		}
 
+		Transform3D hipLocalPose = skeleton->get_bone_pose(hip);
+		Transform3D correctedHipTransform = hipGlobalTransform;
+		correctedHipTransform.set_origin(-hipLocalPose.origin);
+
 		HashMap<BoneId, Quaternion> ik_map = solve_ik_qcp(
 				spine_chain,
-				hipGlobalTransform * skeleton->get_bone_rest(hip).basis.inverse(),
+				correctedHipTransform * skeleton->get_bone_rest(hip).basis.inverse(),
 				headGlobalTransform);
-		//skeleton->set_bone_global_pose_override(
-		//    hip, hipGlobalTransform, 1.0f, true);
 		skeleton->set_bone_pose_rotation(hip, hipGlobalTransform.get_basis().get_rotation_quaternion());
 		skeleton->set_bone_pose_position(hip, hipGlobalTransform.get_origin());
 
 		apply_ik_map(ik_map, hipGlobalTransform,
 				bone_id_order(spine_chain));
 
-		// Keep Hip and Head as global poses tand then apply them as global pose
-		// override
 		Quaternion neckQuaternion = Quaternion();
 		int parent_bone = skeleton->get_bone_parent(head);
 		while (parent_bone != -1) {
 			neckQuaternion = skeleton->get_bone_pose_rotation(parent_bone) * neckQuaternion;
 			parent_bone = skeleton->get_bone_parent(parent_bone);
 		}
-		//skeleton->set_bone_global_pose_override(
-		//    head, headGlobalTransform, 1.0f, true);
 		skeleton->set_bone_pose_rotation(head, neckQuaternion.inverse() * headGlobalTransform.get_basis().get_rotation_quaternion());
 
 		// Calculate and return the parent bone position for the arms

diff --git a/19_godot/modules/renik/renik/renik_limb.cpp b/19_godot/modules/renik/renik/renik_limb.cpp
@@ -30,25 +30,6 @@
 
 #include "renik_limb.h"
 
-void RenIKLimb::init(float p_upper_twist_offset, float p_lower_twist_offset,
-		float p_roll_offset, float p_upper_limb_twist,
-		float p_lower_limb_twist,
-		float p_twist_inflection_point_offset,
-		float p_twist_overflow, float p_target_rotation_influence,
-		Vector3 p_pole_offset,
-		Vector3 p_target_position_influence) {
-	upper_twist_offset = p_upper_twist_offset;
-	lower_twist_offset = p_lower_twist_offset;
-	roll_offset = p_roll_offset;
-	upper_limb_twist = p_upper_limb_twist;
-	lower_limb_twist = p_lower_limb_twist;
-	twist_inflection_point_offset = p_twist_inflection_point_offset;
-	twist_overflow = p_twist_overflow;
-	target_rotation_influence = p_target_rotation_influence;
-	pole_offset = p_pole_offset;
-	target_position_influence = p_target_position_influence;
-}
-
 Transform3D RenIKLimb::get_extra_bones(Skeleton3D *p_skeleton,
 		BoneId p_root_bone_id,
 		BoneId p_tip_bone_id) {

diff --git a/19_godot/modules/renik/renik/renik_limb.h b/19_godot/modules/renik/renik/renik_limb.h
@@ -90,12 +90,6 @@ struct RenIKLimb : public Resource {
 	// STATE: We're keeping a little bit of state now... kinda goes against the design, but it makes life easier so fuck it.
 	int overflow_state =
 			0; // 0 means no twist overflow. -1 means underflow. 1 means overflow.
-
-	void init(float p_upper_twist_offset, float p_lower_twist_offset,
-			float p_roll_offset, float p_upper_limb_twist,
-			float p_lower_limb_twist, float p_twist_inflection_point_offset,
-			float p_twist_overflow, float p_target_rotation_influence,
-			Vector3 p_pole_offset, Vector3 p_target_position_influence);
 };
 
 // TODO: If I'm really ambitious and feel like implementing multi-jointed limbs.