55 lines
1.8 KiB
GDScript
55 lines
1.8 KiB
GDScript
class_name MechSkeletonModifier extends SkeletonModifier3D
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@export var _pelvis_bone: String = "Pelvis"
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@export var _ankle_bone_l: String = "Ankle_L"
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@export var _leg_ik_target_l: Node3D
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@export var _ankle_bone_r: String = "Ankle_R"
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@export var _leg_ik_target_r: Node3D
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@export var _feet_stretch_pelvis_lowering_factor: float = 0.3
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var _skeleton: Skeleton3D
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var _pelvis_rest_y: float
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var _feet_rest_distance: float
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func _ready() -> void:
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_skeleton = get_skeleton()
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var pelvis_rest := _skeleton.get_bone_global_rest(_skeleton.find_bone(_pelvis_bone))
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var ankle_rest_l := _skeleton.get_bone_global_rest(
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_skeleton.find_bone(_ankle_bone_l)
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)
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var ankle_rest_r := _skeleton.get_bone_global_rest(
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_skeleton.find_bone(_ankle_bone_r)
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)
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_pelvis_rest_y = (
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pelvis_rest.origin.y - (ankle_rest_l.origin.y + ankle_rest_r.origin.y) / 2
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)
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_feet_rest_distance = ankle_rest_l.origin.distance_to(ankle_rest_r.origin)
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func _process_modification() -> void:
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if not _skeleton:
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return
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var pelvis_bone := _skeleton.find_bone(_pelvis_bone)
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var pelvis_bone_pose := _skeleton.get_bone_global_pose(pelvis_bone)
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var leg_target_pos_l := to_local(_leg_ik_target_l.global_position)
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var leg_target_pos_r := to_local(_leg_ik_target_r.global_position)
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var pelvis_pos := (leg_target_pos_l + leg_target_pos_r) / 2
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pelvis_pos.y = minf(leg_target_pos_l.y, leg_target_pos_r.y) + _pelvis_rest_y
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var feet_distance := (leg_target_pos_l * Vector3(1, 0, 1)).distance_to(
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leg_target_pos_r * Vector3(1, 0, 1)
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)
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var feet_stretch_pelvis_lowering := (
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(feet_distance - _feet_rest_distance) * _feet_stretch_pelvis_lowering_factor
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)
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pelvis_pos.y -= clampf(feet_stretch_pelvis_lowering, 0, _pelvis_rest_y)
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pelvis_bone_pose.origin = pelvis_pos
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_skeleton.set_bone_global_pose(pelvis_bone, pelvis_bone_pose)
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