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Update working_with_3d_skeletons.rst
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@@ -11,7 +11,7 @@ Skeleton node
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-------------
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The Skeleton node can be directly added anywhere you want on a scene. Usually
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the target mesh is a child of Skeleton, as it easier to manipulate this way, since
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the target mesh is a child of Skeleton, as it is easier to manipulate this way, since
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Transforms within a skeleton are relative to where the Skeleton is. But you
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can specify a Skeleton node in every MeshInstance.
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@@ -21,13 +21,13 @@ applied to a group of vertices within a mesh. You can directly control a group
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of vertices from Godot. For that please reference the :ref:`class_MeshDataTool`
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class and its method :ref:`set_vertex_bones <class_MeshDataTool_set_vertex_bones>`.
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The "bones" are organized hierarchically. Every bone, except for root
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bone(s) have a parent. Every bone also has an associated name you can use to
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The "bones" are organized hierarchically. Every bone, except for the root
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bone(s), has a parent. Every bone also has an associated name you can use to
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refer to it (e.g. "root" or "hand.L", etc.). All bones are numbered, and
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these numbers are bone IDs. Bone parents are referred by their numbered
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these numbers are bone IDs. Bone parents are referred to by their numbered
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IDs.
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For the rest of the article we consider the following scene:
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For the rest of the article, we will consider the following scene:
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::
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@@ -68,9 +68,9 @@ function:**
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func _ready():
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skel = get_node("skel")
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var id = skel.find_bone("upperarm")
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print("bone id:", id)
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print("bone ID:", id)
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Now, we want to do something interesting with the ID, not just printing it.
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Now, we want to do something interesting with the ID, not just print it.
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Also, we might need additional information, finding bone parents to
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complete chains, etc. This is done with the get/set_bone\_\* functions.
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@@ -84,14 +84,14 @@ complete chains, etc. This is done with the get/set_bone\_\* functions.
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func _ready():
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skel = get_node("skel")
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var id = skel.find_bone("upperarm")
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print("bone id:", id)
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print("bone ID:", id)
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var parent = skel.get_bone_parent(id)
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print("bone parent id:", id)
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print("bone parent ID:", parent)
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The bone transforms are the things of our interest here. There are 3 kind of
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transforms: local, global, custom.
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The bone transforms are what interests us here. There are 3 kinds of
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transform: local, global, custom.
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**To find the local Transform of a bone we use get_bone_pose(id) function:**
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**To find the local Transform of a bone, we use get_bone_pose(id) function:**
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::
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@@ -101,9 +101,9 @@ transforms: local, global, custom.
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func _ready():
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skel = get_node("skel")
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var id = skel.find_bone("upperarm")
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print("bone id:", id)
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print("bone ID:", id)
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var parent = skel.get_bone_parent(id)
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print("bone parent id:", id)
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print("bone parent ID:", parent)
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var t = skel.get_bone_pose(id)
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print("bone transform: ", t)
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@@ -123,9 +123,9 @@ other objects there. So let's rotate our "upperarm" bone:
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func _ready():
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skel = get_node("skel")
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id = skel.find_bone("upperarm")
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print("bone id:", id)
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print("bone ID:", id)
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var parent = skel.get_bone_parent(id)
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print("bone parent id:", id)
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print("bone parent ID:", parent)
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var t = skel.get_bone_pose(id)
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print("bone transform: ", t)
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set_process(true)
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@@ -141,7 +141,7 @@ translate. Try these on your own and check the results.
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What we used here was the local pose. By default all bones are not modified.
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But this Transform tells us nothing about the relationship between bones.
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This information is needed for quite a number of tasks. How can we get
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it? Here the global transform comes into play:
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it? This is where the global transform comes into play:
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**To find the bone global Transform we use get_bone_global_pose(id)
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function:**
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@@ -156,9 +156,9 @@ Let's find the global Transform for the lowerarm bone:
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func _ready():
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skel = get_node("skel")
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var id = skel.find_bone("lowerarm")
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print("bone id:", id)
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print("bone ID:", id)
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var parent = skel.get_bone_parent(id)
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print("bone parent id:", id)
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print("bone parent ID:", parent)
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var t = skel.get_bone_global_pose(id)
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print("bone transform: ", t)
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@@ -174,15 +174,15 @@ at 0 if not modified. Let's print the origin for our lowerarm bone:
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func _ready():
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skel = get_node("skel")
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var id = skel.find_bone("lowerarm")
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print("bone id:", id)
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print("bone ID:", id)
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var parent = skel.get_bone_parent(id)
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print("bone parent id:", id)
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print("bone parent ID:", parent)
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var t = skel.get_bone_global_pose(id)
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print("bone origin: ", t.origin)
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You will see a number. What does this number mean? It is a rotation
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point of the Transform. So it is base part of the bone. In Blender you can
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go to Pose mode and try there to rotate bones. They will rotate around
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point of the Transform. So it is base part of the bone. In Blender, you can
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go to Pose mode and try to rotate bones there. They will rotate around
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their origin.
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But what about the bone tip? We can't know things like the bone length,
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@@ -201,10 +201,10 @@ and storing the value in your script.
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Using 3D "bones" for mesh control
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---------------------------------
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Now as you know the basics we can apply these to make full FK-control of our
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Now, as you know the basics, we can apply these to make full FK-control of our
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arm (FK is forward-kinematics).
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To fully control our arm we need the following parameters:
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To fully control our arm, we need the following parameters:
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- Upperarm angle x, y, z
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- Lowerarm angle x, y, z
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@@ -232,7 +232,7 @@ First we define the setup parameters:
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var lowerarm_angle = Vector3()
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var upperarm_angle = Vector3()
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Now we need to setup a way to change them. Let us use keys for that.
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Now we need to set up a way to change them. Let us use keys for that.
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Please create 7 actions under project settings -> Input Map:
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@@ -244,7 +244,7 @@ Please create 7 actions under project settings -> Input Map:
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- **increment** - bind to key numpad +
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- **decrement** - bind to key numpad -
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So now we want to adjust the above parameters. Therefore we create code
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So now we want to adjust the above parameters. Therefore, we create code
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which does that:
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::
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@@ -324,13 +324,13 @@ The full code for arm control is this:
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set_bone_rot("lowerarm", lowerarm_angle)
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set_bone_rot("upperarm", upperarm_angle)
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Pressing keys 1/2 selects upperarm/lowerarm, select the axis by pressing x,
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y, z, rotate using numpad "+"/"-"
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Pressing keys 1/2 selects upperarm/lowerarm; select the axis by pressing x,
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y, z, rotate using numpad "+"/"-".
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This way you fully control your arm in FK mode using 2 bones. You can
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add additional bones and/or improve the "feel" of the interface by using
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coefficients for the change. I recommend you play with this example a
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lot before going to next part.
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lot before moving on to the next part.
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You can clone the demo code for this chapter using
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