Class SkeletonModification2DCcdik
- Namespace
- Godot
- Assembly
- GodotSharp.dll
This SkeletonModification2D uses an algorithm called Cyclic Coordinate Descent Inverse Kinematics, or CCDIK, to manipulate a chain of bones in a Skeleton2D so it reaches a defined target.
CCDIK works by rotating a set of bones, typically called a "bone chain", on a single axis. Each bone is rotated to face the target from the tip (by default), which over a chain of bones allow it to rotate properly to reach the target. Because the bones only rotate on a single axis, CCDIK can look more robotic than other IK solvers.
Note: The CCDIK modifier has ccdik_joints, which are the data objects that hold the data for each joint in the CCDIK chain. This is different from a bone! CCDIK joints hold the data needed for each bone in the bone chain used by CCDIK.
CCDIK also fully supports angle constraints, allowing for more control over how a solution is met.
[GodotClassName("SkeletonModification2DCCDIK")]
public class SkeletonModification2DCcdik : SkeletonModification2D, IDisposable- Inheritance
-
SkeletonModification2DCcdik
- Implements
- Inherited Members
Constructors
SkeletonModification2DCcdik()
public SkeletonModification2DCcdik()Properties
CcdikDataChainLength
The number of CCDIK joints in the CCDIK modification.
public int CcdikDataChainLength { get; set; }Property Value
TargetNodePath
The NodePath to the node that is the target for the CCDIK modification. This node is what the CCDIK chain will attempt to rotate the bone chain to.
public NodePath TargetNodePath { get; set; }Property Value
TipNodePath
The end position of the CCDIK chain. Typically, this should be a child of a Bone2D node attached to the final Bone2D in the CCDIK chain.
public NodePath TipNodePath { get; set; }Property Value
Methods
GetCcdikJointBone2DNode(int)
Returns the Bone2D node assigned to the CCDIK joint at jointIdx.
public NodePath GetCcdikJointBone2DNode(int jointIdx)Parameters
jointIdxint
Returns
GetCcdikJointBoneIndex(int)
Returns the index of the Bone2D node assigned to the CCDIK joint at jointIdx.
public int GetCcdikJointBoneIndex(int jointIdx)Parameters
jointIdxint
Returns
GetCcdikJointConstraintAngleInvert(int)
Returns whether the CCDIK joint at jointIdx uses an inverted joint constraint. See SetCcdikJointConstraintAngleInvert(int, bool) for details.
public bool GetCcdikJointConstraintAngleInvert(int jointIdx)Parameters
jointIdxint
Returns
GetCcdikJointConstraintAngleMax(int)
Returns the maximum angle constraint for the joint at jointIdx.
public float GetCcdikJointConstraintAngleMax(int jointIdx)Parameters
jointIdxint
Returns
GetCcdikJointConstraintAngleMin(int)
Returns the minimum angle constraint for the joint at jointIdx.
public float GetCcdikJointConstraintAngleMin(int jointIdx)Parameters
jointIdxint
Returns
GetCcdikJointEnableConstraint(int)
Returns whether angle constraints on the CCDIK joint at jointIdx are enabled.
public bool GetCcdikJointEnableConstraint(int jointIdx)Parameters
jointIdxint
Returns
GetCcdikJointRotateFromJoint(int)
Returns whether the joint at jointIdx is set to rotate from the joint, true, or to rotate from the tip, false. The default is to rotate from the tip.
public bool GetCcdikJointRotateFromJoint(int jointIdx)Parameters
jointIdxint
Returns
HasGodotClassMethod(in godot_string_name)
Check if the type contains a method with the given name. This method is used by Godot to check if a method exists before invoking it. Do not call or override this method.
protected override bool HasGodotClassMethod(in godot_string_name method)Parameters
methodgodot_string_nameName of the method to check for.
Returns
HasGodotClassSignal(in godot_string_name)
Check if the type contains a signal with the given name. This method is used by Godot to check if a signal exists before raising it. Do not call or override this method.
protected override bool HasGodotClassSignal(in godot_string_name signal)Parameters
signalgodot_string_nameName of the signal to check for.
Returns
InvokeGodotClassMethod(in godot_string_name, NativeVariantPtrArgs, out godot_variant)
Invokes the method with the given name, using the given arguments. This method is used by Godot to invoke methods from the engine side. Do not call or override this method.
protected override bool InvokeGodotClassMethod(in godot_string_name method, NativeVariantPtrArgs args, out godot_variant ret)Parameters
methodgodot_string_nameName of the method to invoke.
argsNativeVariantPtrArgsArguments to use with the invoked method.
retgodot_variantValue returned by the invoked method.
Returns
SetCcdikJointBone2DNode(int, NodePath)
Sets the Bone2D node assigned to the CCDIK joint at jointIdx.
public void SetCcdikJointBone2DNode(int jointIdx, NodePath bone2DNodePath)Parameters
SetCcdikJointBoneIndex(int, int)
Sets the bone index, boneIdx, of the CCDIK joint at jointIdx. When possible, this will also update the bone2d_node of the CCDIK joint based on data provided by the linked skeleton.
public void SetCcdikJointBoneIndex(int jointIdx, int boneIdx)Parameters
SetCcdikJointConstraintAngleInvert(int, bool)
Sets whether the CCDIK joint at jointIdx uses an inverted joint constraint.
An inverted joint constraint only constraints the CCDIK joint to the angles outside of the inputted minimum and maximum angles. For this reason, it is referred to as an inverted joint constraint, as it constraints the joint to the outside of the inputted values.
public void SetCcdikJointConstraintAngleInvert(int jointIdx, bool invert)Parameters
SetCcdikJointConstraintAngleMax(int, float)
Sets the maximum angle constraint for the joint at jointIdx.
public void SetCcdikJointConstraintAngleMax(int jointIdx, float angleMax)Parameters
SetCcdikJointConstraintAngleMin(int, float)
Sets the minimum angle constraint for the joint at jointIdx.
public void SetCcdikJointConstraintAngleMin(int jointIdx, float angleMin)Parameters
SetCcdikJointEnableConstraint(int, bool)
Determines whether angle constraints on the CCDIK joint at jointIdx are enabled. When true, constraints will be enabled and taken into account when solving.
public void SetCcdikJointEnableConstraint(int jointIdx, bool enableConstraint)Parameters
SetCcdikJointRotateFromJoint(int, bool)
Sets whether the joint at jointIdx is set to rotate from the joint, true, or to rotate from the tip, false.
public void SetCcdikJointRotateFromJoint(int jointIdx, bool rotateFromJoint)