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stuff

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oughtum 2024-08-19 00:24:07 +01:00
parent 4f3495d5d4
commit f720e0caf3
5 changed files with 46 additions and 56 deletions
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assets/lorge_lad.glb
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raw_assets/lorge_lad.blend
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raw_assets/lorge_lad.blend1
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58
scenes/robot.tscn
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@ -1,25 +1,9 @@
[gd_scene load_steps=8 format=3 uid="uid://d3oxojt0ld7cm"]
[gd_scene load_steps=4 format=3 uid="uid://xpl5i3rcmscw"]
[ext_resource type="PackedScene" uid="uid://bt6d30ro3uit" path="res://assets/lorge_lad.glb" id="1_yl7yu"]
[ext_resource type="Script" path="res://scripts/robot.gd" id="2_gcxpt"]
[ext_resource type="Script" path="res://scripts/arm.gd" id="2_kj7im"]
[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_kq614"]
albedo_color = Color(0.266601, 0.598777, 0.75751, 1)
[sub_resource type="SphereMesh" id="SphereMesh_f8ndx"]
material = SubResource("StandardMaterial3D_kq614")
radius = 0.25
height = 0.5
[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_5u7os"]
albedo_color = Color(0.937332, 0.253354, 0.593443, 1)
[sub_resource type="SphereMesh" id="SphereMesh_sih0d"]
material = SubResource("StandardMaterial3D_5u7os")
radius = 0.25
height = 0.5
[node name="Robot" node_paths=PackedStringArray("arms", "skeleton") instance=ExtResource("1_yl7yu")]
script = ExtResource("2_gcxpt")
arms = [NodePath("Skeleton3D/BackRightIK"), NodePath("Skeleton3D/FrontRightIK"), NodePath("Skeleton3D/FrontLeftIK"), NodePath("Skeleton3D/BackLeftIK")]
@ -28,35 +12,32 @@ skeleton = NodePath("Skeleton3D")
body_bone = &"Bone"
[node name="Skeleton3D" parent="." index="0"]
bones/0/position = Vector3(-1.38368e-07, 0.100132, 1.53269e-07)
bones/25/rotation = Quaternion(-1.26218e-29, 4.893e-22, -2.98023e-08, 1)
bones/27/rotation = Quaternion(0.5, -0.5, -0.5, -0.5)
bones/28/rotation = Quaternion(2.37545e-17, 2.18557e-08, 6.01506e-30, 1)
bones/53/rotation = Quaternion(-6.7435e-08, 0.707107, 0.707107, -6.7435e-08)
bones/13/rotation = Quaternion(0.270598, 0.653281, 0.653282, 0.270598)
bones/13/scale = Vector3(1, 1, 1)
bones/17/rotation = Quaternion(1.56613e-21, 1.13687e-14, 4.61936e-07, 1)
bones/26/scale = Vector3(1, 1, 1)
bones/27/scale = Vector3(1, 1, 1)
bones/28/rotation = Quaternion(0.5, -0.5, -0.5, -0.5)
bones/40/rotation = Quaternion(0.653282, -0.270598, -0.270598, 0.653281)
bones/53/rotation = Quaternion(-0.270598, 0.653281, 0.653281, -0.270598)
[node name="BackRightSocket" parent="Skeleton3D" index="0"]
transform = Transform3D(0.656004, -0.263929, -0.707106, 0.373252, 0.92773, -5.82077e-08, 0.656004, -0.263929, 0.707107, 0.593707, 0.125032, 0.593707)
transform = Transform3D(0.940563, -0.334377, -0.0594368, 0.334377, 0.881126, 0.334378, -0.0594372, -0.334378, 0.940563, 0.0650502, -0.379084, 0.0650504)
[node name="FrontRightSocket" parent="Skeleton3D" index="1"]
transform = Transform3D(0.707107, -0.263928, -0.656004, 1.16415e-08, 0.92773, -0.373251, 0.707107, 0.263928, 0.656004, 0.593707, 0.125032, -0.593707)
transform = Transform3D(0.940563, -0.334376, 0.0594365, 0.334377, 0.881127, -0.334376, 0.0594365, 0.334376, 0.940563, 0.0650501, -0.379084, -0.06505)
[node name="FrontLeftSocket" parent="Skeleton3D" index="2"]
transform = Transform3D(0.656004, 0.263928, -0.707107, -0.373251, 0.92773, 1.28057e-07, 0.656004, 0.263928, 0.707106, -0.593708, 0.125032, -0.593707)
[node name="Body_001" parent="Skeleton3D" index="2"]
transform = Transform3D(1, 4.21468e-08, 0, 0, 1, 5.96046e-08, 2.98023e-08, -4.21468e-08, 1, -1.42109e-14, 1.39698e-09, 5.96046e-08)
[node name="Body_001" parent="Skeleton3D" index="3"]
transform = Transform3D(0.707107, 0, -0.707106, 0, 1, 0, 0.707106, 0, 0.707107, 1.19412e-07, 0.106696, 1.78611e-07)
[node name="Camera3D" type="Camera3D" parent="Skeleton3D/Body_001" index="1"]
transform = Transform3D(-4.37114e-08, -5.96047e-08, 1, 5.96047e-08, 1, 4.21469e-08, -1, 1.01751e-07, -1.39091e-08, 4, 7.10543e-15, -1.19209e-07)
[node name="center_bone_marker" type="MeshInstance3D" parent="Skeleton3D/Body_001" index="0"]
transform = Transform3D(0.707107, 0, 0.707107, 0, 1, 0, -0.707107, 0, 0.707107, -2.10734e-07, -0.106696, -4.186e-08)
mesh = SubResource("SphereMesh_f8ndx")
skeleton = NodePath("../../..")
[node name="Camera3D" type="Camera3D" parent="Skeleton3D/Body_001" index="2"]
transform = Transform3D(-0.707107, 0, 0.707107, 0, 1, 0, -0.707107, 0, -0.707107, 2.82843, 2.32831e-09, -2.82843)
current = true
[node name="FrontLeftSocket" parent="Skeleton3D" index="3"]
transform = Transform3D(0.940563, 0.334376, -0.0594367, -0.334376, 0.881127, -0.334377, -0.0594367, 0.334377, 0.940563, -0.0650499, -0.379083, -0.0650499)
[node name="BackLeftSocket" parent="Skeleton3D" index="4"]
transform = Transform3D(0.707107, 0.263929, -0.656004, 4.52232e-08, 0.92773, 0.373251, 0.707106, -0.263929, 0.656004, -0.593707, 0.125032, 0.593708)
transform = Transform3D(0.940563, 0.334377, 0.059437, -0.334377, 0.881127, 0.334376, 0.0594363, -0.334377, 0.940563, -0.0650502, -0.379084, 0.0650501)
[node name="BackRightIK" type="SkeletonIK3D" parent="Skeleton3D" index="9"]
root_bone = &"BackRight_Root"
@ -105,6 +86,3 @@ transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.5, -0.744633, -1.5)
[node name="BackLeftTarget" type="Marker3D" parent="Skeleton3D" index="16"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.5, -0.744633, 1.5)
[node name="tip_average_marker" type="MeshInstance3D" parent="." index="1"]
mesh = SubResource("SphereMesh_sih0d")

44
scripts/robot.gd
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@ -1,9 +1,13 @@
@tool
class_name Body extends Node3D
@export var arms: Array[Arm]
@export var body_offset: float = 0.25
@export var skeleton: Skeleton3D
@export var body_bone: StringName
@export var move_speed: float = 0.5
@onready var previous_position: Vector3 = global_position
var active_arm: Arm
@ -28,29 +32,37 @@ func _physics_process(delta: float) -> void:
for arm in arms:
var tip_bone_global_pos: Vector3 = skeleton.to_global(arm.tip_bone_trans.origin)
#var tip_bone_global_basis: Basis = arm.tip_bone_tras.basis
avg_tip_pos += tip_bone_global_pos
#avg_tip_basis.x += tip_bone_global_basis.x
#avg_tip_basis.y += tip_bone_global_basis.y
#avg_tip_basis.z += tip_bone_global_basis.z
avg_tip_pos /= arms.size()
#avg_tip_basis.x /= arms.size()
#avg_tip_basis.y /= arms.size()
#avg_tip_basis.z /= arms.size()
#skeleton.global_position = avg_tip_pos
#skeleton.global_position = avg_tip_pos
#var m = MeshInstance3D.new()
var body_bone_id: int = skeleton.find_bone(body_bone)
var body_bone_transform = skeleton.get_bone_global_pose(body_bone_id)
#var velocity = global_position - previous_position
var global_pos = skeleton.to_local(avg_tip_pos)# + velocity
$tip_average_marker.set_global_position(global_pos)
#$center_bone_marker.set_global_position()
body_bone_transform.origin = global_pos
skeleton.set_bone_global_pose(body_bone_id, body_bone_transform)
#previous_position = global_pos
#m.global_position = avg_tip_pos
#skeleton.global_basis = avg_tip_basis
# terrible code but its a jam so fuck it
var br = skeleton.to_global(arms[0].tip_bone_trans.origin)
var fr = skeleton.to_global(arms[1].tip_bone_trans.origin)
var fl = skeleton.to_global(arms[2].tip_bone_trans.origin)
var bl = skeleton.to_global(arms[3].tip_bone_trans.origin)
var plane1 = Plane(bl, fl, fr)
var plane2 = Plane(fr, br, bl)
var normal_avg = ((plane1.normal + plane2.normal) / 2).normalized()
var basis = Basis()
basis.x = normal_avg.cross(skeleton.transform.basis.z)
basis.y = normal_avg
basis.z = skeleton.transform.basis.x.cross(normal_avg)
print(bl, fl, fr)
basis = basis.orthonormalized()
var target_basis = basis
skeleton.transform.basis = lerp(skeleton.transform.basis, target_basis, move_speed * delta).orthonormalized()