init

scripts/mech.gd

@@ -0,0 +1,77 @@
+class_name Mech extends Node3D
+
+@export_group("Skeleton")
+@export var _skeleton: Skeleton3D
+
+@export_subgroup("Left")
+@export var _ankle_bone_l: String = "Ankle_L"
+@export var _leg_ik_l: SkeletonIK3D
+@export var _leg_foot_body_l: CharacterBody3D
+@export var _leg_ik_magnet_l: Node3D
+
+@export_subgroup("Right")
+@export var _ankle_bone_r: String = "Ankle_R"
+@export var _leg_ik_r: SkeletonIK3D
+@export var _leg_foot_body_r: CharacterBody3D
+@export var _leg_ik_magnet_r: Node3D
+
+@export_group("Walking")
+@export var _mouse_walk_sensitivity: float = 1
+
+var _mouse_relative: Vector2
+
+
+func _ready() -> void:
+	_leg_ik_l.start()
+	_leg_ik_r.start()
+	_ready_leg_ik(_leg_foot_body_l, _ankle_bone_l)
+	_ready_leg_ik(_leg_foot_body_r, _ankle_bone_r)
+
+
+func _ready_leg_ik(foot_body: Node3D, bone: String) -> void:
+	foot_body.position = (
+		_skeleton.get_bone_global_rest(_skeleton.find_bone(bone)).origin
+	)
+
+
+func _process(_delta: float) -> void:
+	_process_leg_ik(_leg_ik_l, _leg_ik_magnet_l)
+	_process_leg_ik(_leg_ik_r, _leg_ik_magnet_r)
+
+
+func _process_leg_ik(ik: SkeletonIK3D, ik_magnet: Node3D) -> void:
+	ik.magnet = to_local(ik_magnet.global_position)
+
+
+func _physics_process(_delta: float) -> void:
+	if Input.is_mouse_button_pressed(MOUSE_BUTTON_LEFT):
+		_handle_leg_moving(_mouse_relative, _leg_foot_body_l)
+	if Input.is_mouse_button_pressed(MOUSE_BUTTON_RIGHT):
+		_handle_leg_moving(_mouse_relative, _leg_foot_body_r)
+
+	_mouse_relative = Vector2.ZERO
+
+
+func _handle_leg_moving(mouse_delta: Vector2, foot_body: CharacterBody3D) -> void:
+	var velocity_local := Vector3(
+		0,
+		-mouse_delta.y * _mouse_walk_sensitivity,
+		mouse_delta.x * _mouse_walk_sensitivity
+	)
+	foot_body.velocity = transform.basis * velocity_local
+	foot_body.move_and_slide()
+
+
+func _unhandled_input(event: InputEvent) -> void:
+	if event is InputEventMouseMotion:
+		var event_mouse := event as InputEventMouseMotion
+		_mouse_relative = event_mouse.screen_relative
+	else:
+		_mouse_relative = Vector2.ZERO
+
+	if event is InputEventMouseButton:
+		var event_mouse := event as InputEventMouseButton
+		if event_mouse.is_pressed():
+			Input.mouse_mode = Input.MOUSE_MODE_CAPTURED
+		else:
+			Input.mouse_mode = Input.MOUSE_MODE_VISIBLE

scripts/mech.gd.uid

@@ -0,0 +1 @@
+uid://c5n47rrsak7xb

scripts/mech_skeleton_modifier.gd

@@ -0,0 +1,42 @@
+class_name MechSkeletonModifier extends SkeletonModifier3D
+
+@export var _pelvis_bone: String = "Pelvis"
+@export var _ankle_bone_l: String = "Ankle_L"
+@export var _leg_ik_target_l: Node3D
+@export var _ankle_bone_r: String = "Ankle_R"
+@export var _leg_ik_target_r: Node3D
+
+var _skeleton: Skeleton3D
+
+var _pelvis_rest_y: float
+
+
+func _ready() -> void:
+	_skeleton = get_skeleton()
+	var pelvis_rest := _skeleton.get_bone_global_rest(_skeleton.find_bone(_pelvis_bone))
+	var ankle_rest_l := _skeleton.get_bone_global_rest(
+		_skeleton.find_bone(_ankle_bone_l)
+	)
+	var ankle_rest_r := _skeleton.get_bone_global_rest(
+		_skeleton.find_bone(_ankle_bone_r)
+	)
+	_pelvis_rest_y = (
+		pelvis_rest.origin.y - (ankle_rest_l.origin.y + ankle_rest_r.origin.y) / 2
+	)
+
+
+func _process_modification() -> void:
+	if not _skeleton:
+		return
+
+	var pelvis_bone := _skeleton.find_bone(_pelvis_bone)
+	var pelvis_bone_pose := _skeleton.get_bone_global_pose(pelvis_bone)
+
+	var leg_target_pos_l := to_local(_leg_ik_target_l.global_position)
+	var leg_target_pos_r := to_local(_leg_ik_target_r.global_position)
+
+	var pelvis_pos := (leg_target_pos_l + leg_target_pos_r) / 2
+	pelvis_pos.y = minf(leg_target_pos_l.y, leg_target_pos_r.y) + _pelvis_rest_y
+
+	pelvis_bone_pose.origin = pelvis_pos
+	_skeleton.set_bone_global_pose(pelvis_bone, pelvis_bone_pose)

scripts/mech_skeleton_modifier.gd.uid

@@ -0,0 +1 @@
+uid://dj5teb5844s8w