Merge pull request #226 from TwistedTwigleg/3D_IK_Demo

3D IK demo (fixed)

3d/ik/addons/sade/IK_FABRIK.gd

@@ -0,0 +1,597 @@
+tool
+extends Spatial
+
+"""
+A FABRIK IK chain with a middle joint helper.
+"""
+
+export (NodePath) var skeleton_path setget _set_skeleton_path
+export (PoolStringArray) var bones_in_chain setget _set_bone_chain_bones
+export (PoolRealArray) var bones_in_chain_lengths setget _set_bone_chain_lengths
+
+export (int, "_process", "_physics_process", "_notification", "none") var update_mode = 0 setget _set_update_mode
+
+var target = null
+
+var skeleton
+
+# A dictionary holding all of the bone IDs (from the skeleton) and a dictionary holding
+# all of the bone helper nodes
+var bone_IDs = {}
+var bone_nodes = {}
+
+# The position of the origin
+var chain_origin = null
+# The combined length of every bone in the bone chain
+var total_length = null
+# The delta/tolerance for the bone chain (how do the bones need to be before it is considered satisfactory)
+const CHAIN_TOLERANCE = 0.01
+# The amount of interations the bone chain will go through in an attempt to get to the target position
+const CHAIN_MAX_ITER = 10
+# The amount of iterations we've been through, and whether or not we want to limit our solver to CHAIN_MAX_ITER
+# amounts of interations.
+export (int) var chain_iterations = 0
+export (bool) var limit_chain_iterations = true
+# Should we reset chain_iterations on movement during our update method?
+export (bool) var reset_iterations_on_update = false
+
+# A boolean to track whether or not we want to move the middle joint towards middle joint target.
+export (bool) var use_middle_joint_target = false
+var middle_joint_target = null
+
+# NOT WORKING.
+# A boolean to track whether or not we want to constrain the bones in the bone chain.
+#export (bool) var constrained = false
+# A array of strings contraining the bone constraints for each bone (assuming the order is the same
+# as bones_in_chain). (ORDER: Left,Right,Up,Down)
+#export (PoolStringArray) var bone_constraints
+
+# Have we called _set_skeleton_path or not already. Due to some issues using exported NodePaths,
+# we need to ignore the first _set_skeleton_path call.
+var first_call = true
+
+# A boolean to track whether or not we want to print debug messages
+var debug_messages = false
+
+func _ready():
+	
+	if (target == null):
+		# NOTE: you HAVE to have a node called target as a child of this node!
+		# so we create one if one doesn't already exist
+		if has_node("target") == false:
+			target = Spatial.new()
+			add_child(target)
+			
+			if Engine.editor_hint == true:
+				if get_tree() != null:
+					if get_tree().edited_scene_root != null:
+						target.set_owner(get_tree().edited_scene_root)
+			
+			target.name = "target"
+		else:
+			target = get_node("target")
+		
+		# If we are in the editor, we want to make a sphere at this node
+		if Engine.editor_hint == true:
+			_make_editor_sphere_at_node(target, Color(1, 0, 1, 1))
+	
+	if middle_joint_target == null:
+		if has_node("middle_joint_target") == false:
+			middle_joint_target = Spatial.new()
+			add_child(middle_joint_target)
+			
+			if Engine.editor_hint == true:
+				if get_tree() != null:
+					if get_tree().edited_scene_root != null:
+						middle_joint_target.set_owner(get_tree().edited_scene_root)
+			
+			middle_joint_target.name = "middle_joint_target"
+		else:
+			middle_joint_target = get_node("middle_joint_target")
+	
+		# If we are in the editor, we want to make a sphere at this node
+		if Engine.editor_hint == true:
+			_make_editor_sphere_at_node(middle_joint_target, Color(1, 0.24, 1, 1))
+	
+	# Make all of the bone nodes for each bone in the IK chain
+	_make_bone_nodes()
+	
+	# Make sure we're using the right update mode
+	_set_update_mode(update_mode)
+
+
+func _make_editor_sphere_at_node(node, color):
+	# So we can see the target in the editor, let's create a mesh instance,
+	# Add it as our child, and name it
+	var indicator = MeshInstance.new()
+	node.add_child(indicator)
+	indicator.name = "(EditorOnly) Visual indicator"
+
+	# We need to make a mesh for the mesh instance.
+	# The code below makes a small sphere mesh
+	var indicator_mesh = SphereMesh.new()
+	indicator_mesh.radius = 0.1
+	indicator_mesh.height = 0.2
+	indicator_mesh.radial_segments = 8
+	indicator_mesh.rings = 4
+
+	# The mesh needs a material (unless we want to use the defualt one).
+	# Let's create a material and use the EditorGizmoTexture to texture it.
+	var indicator_material = SpatialMaterial.new()
+	indicator_material.flags_unshaded = true
+	indicator_material.albedo_texture = preload("editor_gizmo_texture.png")
+	indicator_material.albedo_color = color
+	indicator_mesh.material = indicator_material
+	indicator.mesh = indicator_mesh
+
+
+############# SETGET FUNCTIONS #############
+
+
+func _set_update_mode(new_value):
+	update_mode = new_value
+	
+	set_process(false)
+	set_physics_process(false)
+	set_notify_transform(false)
+	
+	if update_mode == 0:
+		set_process(true)
+	elif update_mode == 1:
+		set_process(true)
+	elif update_mode == 2:
+		set_notify_transform(true)
+	else:
+		if debug_messages == true:
+			print (name, " - IK_FABRIK: Unknown update mode. NOT updating skeleton")
+		return
+
+
+func _set_skeleton_path(new_value):
+	
+	# Because get_node doesn't work in the first call, we just want to assign instead
+	if first_call == true:
+		skeleton_path = new_value
+		return
+	
+	skeleton_path = new_value
+	
+	if skeleton_path == null:
+		if debug_messages == true:
+			print (name, " - IK_FABRIK: No Nodepath selected for skeleton_path!")
+		return
+	
+	var temp = get_node(skeleton_path)
+	if temp != null:
+		# If it has the method "get_bone_global_pose" it is likely a Skeleton
+		if temp.has_method("get_bone_global_pose") == true:
+			skeleton = temp
+			bone_IDs = {}
+			
+			# (Delete all of the old bone nodes and) Make all of the bone nodes for each bone in the IK chain
+			_make_bone_nodes()
+			
+			if debug_messages == true:
+				print (name, " - IK_FABRIK: Attached to a new skeleton")
+		# If not, then it's (likely) not a Skeleton node
+		else:
+			skeleton = null
+			if debug_messages == true:
+				print (name, " - IK_FABRIK: skeleton_path does not point to a skeleton!")
+	else:
+		if debug_messages == true:
+			print (name, " - IK_FABRIK: No Nodepath selected for skeleton_path!")
+
+############# OTHER (NON IK SOLVER RELATED) FUNCTIONS #############
+
+
+func _make_bone_nodes():
+	# Remove all of the old bone nodes
+	# TODO: (not a huge concern, as these can be removed in the editor)
+	
+	for bone in range(0, bones_in_chain.size()):
+		
+		var bone_name = bones_in_chain[bone]
+		if has_node(bone_name) == false:
+			var new_node = Spatial.new()
+			bone_nodes[bone] = new_node
+			add_child(bone_nodes[bone])
+			
+			if Engine.editor_hint == true:
+				if get_tree() != null:
+					if get_tree().edited_scene_root != null:
+						bone_nodes[bone].set_owner(get_tree().edited_scene_root)
+			
+			bone_nodes[bone].name = bone_name
+			
+		else:
+			bone_nodes[bone] = get_node(bone_name)
+		
+		# If we are in the editor, we want to make a sphere at this node
+		if Engine.editor_hint == true:
+			_make_editor_sphere_at_node(bone_nodes[bone], Color(0.65, 0, 1, 1))
+
+
+func _set_bone_chain_bones(new_value):
+	bones_in_chain = new_value
+	
+	_make_bone_nodes()
+
+func _set_bone_chain_lengths(new_value):
+	bones_in_chain_lengths = new_value
+	total_length = null
+
+
+# NOT USED -- part of the (not working) constraint system
+"""
+func get_bone_constraints(index):
+	# NOTE: assumed angle constraint order:
+		#	Left angle in degrees, right angle in degrees, up angle in degress, down angle in degrees.
+	if index <= bones_in_chain.size()-1:
+		var index_str = bone_constraints[index]
+		var floats = index_str.split_floats(",", false)
+		if (floats.size() >= 4):
+			return floats
+		else:
+			print (self.name, " - IK_FABRIK: Not all constraints are present for bone number ", index, " found!")
+			return null
+	
+	print (self.name, " - IK_FABRIK: No constraints for bone number ", index, " found!")
+	return null
+"""
+
+
+# Various upate methods
+# ---------------------
+func _process(delta):
+	if reset_iterations_on_update == true:
+		chain_iterations = 0
+	update_skeleton()
+func _physics_process(delta):
+	if reset_iterations_on_update == true:
+		chain_iterations = 0
+	update_skeleton()
+func _notification(what):
+	if what == NOTIFICATION_TRANSFORM_CHANGED:
+		if reset_iterations_on_update == true:
+			chain_iterations = 0
+		update_skeleton()
+
+
+############# IK SOLVER RELATED FUNCTIONS #############
+
+func update_skeleton():
+	
+	#### ERROR CHECKING conditions
+	if first_call == true:
+		_set_skeleton_path(skeleton_path)
+		first_call = false
+		
+		if skeleton == null:
+			_set_skeleton_path(skeleton_path)
+			
+		return
+	
+	if bones_in_chain == null:
+		if debug_messages == true:
+			print (name, " - IK_FABRIK: No Bones in IK chain defined!")
+		return
+	if bones_in_chain_lengths == null:
+		if debug_messages == true:
+			print (name, " - IK_FABRIK: No Bone lengths in IK chain defined!")
+		return
+	
+	if bones_in_chain.size() != bones_in_chain_lengths.size():
+		if debug_messages == true:
+			print (name, " - IK_FABRIK: bones_in_chain and bones_in_chain_lengths!")
+		return
+	
+	################################
+	
+	# Set all of the bone IDs in bone_IDs, if they are not already made
+	var i = 0
+	if bone_IDs.size() <= 0:
+		for bone_name in bones_in_chain:
+			bone_IDs[bone_name] = skeleton.find_bone(bone_name)
+			
+			# Set the bone node to the currect bone position
+			bone_nodes[i].global_transform = get_bone_transform(i)
+			# If this is not the last bone in the bone chain, make it look at the next bone in the bone chain
+			if i < bone_IDs.size()-1:
+				bone_nodes[i].look_at(get_bone_transform(i+1).origin + skeleton.global_transform.origin, Vector3(0, 1, 0))
+			
+			i += 1
+	
+	# Set the total length of the bone chain, if it is not already set
+	if total_length == null:
+		total_length = 0
+		for bone_length in bones_in_chain_lengths:
+			total_length += bone_length
+	
+	
+	# Solve the bone chain
+	solve_chain()
+
+
+
+func solve_chain():
+	
+	# If we have reached our max chain iteration, and we are limiting ourselves, then return.
+	# Otherwise set chain_iterations to zero (so we constantly update)
+	if chain_iterations >= CHAIN_MAX_ITER and limit_chain_iterations == true:
+		return
+	else:
+		chain_iterations = 0
+	
+	# Update the origin with the current bone's origin
+	chain_origin = get_bone_transform(0)
+	
+	# Get the direction of the final bone by using the next to last bone if there is more than 2 bones.
+	# If there are only 2 bones, we use the target's forward Z vector instead (not ideal, but it works fairly well)
+	#var dir = -target.global_transform.basis.z.normalized()
+	var dir
+	if bone_nodes.size() > 2:
+		dir = bone_nodes[bone_nodes.size()-2].global_transform.basis.z.normalized()
+	else:
+		dir = -target.global_transform.basis.z.normalized()
+	
+	# Get the target position (accounting for the final bone and it's length)
+	var target_pos = target.global_transform.origin + (dir * bones_in_chain_lengths[bone_nodes.size()-1])
+	
+	# If we are using middle joint target (and have more than 2 bones), move our middle joint towards it!
+	if use_middle_joint_target == true:
+		if bone_nodes.size() > 2:
+			var middle_point_pos = middle_joint_target.global_transform
+			bone_nodes[bone_nodes.size()/2].global_transform.origin = middle_point_pos.origin
+	
+	# Get the distance from the origin to the target
+	var distance = (chain_origin.origin - target_pos).length()
+	
+	# If the distance is farther than our total reach, the target cannot be reached.
+	# Make the bone chain a straight line pointing towards the target
+	if distance > total_length:
+		for i in range (0, bones_in_chain.size()):
+			# Create a direct line to target and make this bone travel down that line
+			
+			var r = (target_pos - bone_nodes[i].global_transform.origin).length()
+			var l = bones_in_chain_lengths[i] / r
+			
+			# Find new join position
+			var new_pos = (1-l) * bone_nodes[i].global_transform.origin + l * target_pos
+			
+			# Apply it to the bone node
+			bone_nodes[i].look_at(new_pos, Vector3(0, 1, 0))
+			bone_nodes[i].global_transform.origin = new_pos
+		
+		# Apply the rotation to the first node in the bone chain, making it look at the next bone in the bone chain
+		bone_nodes[0].look_at(bone_nodes[1].global_transform.origin, Vector3(0, 1, 0))
+	
+	# If the distance is NOT farther than our total reach, the target can be reached.
+	else:
+		# Get the difference between our end effector (the final bone in the chain) and the target
+		var dif = (bone_nodes[bone_nodes.size()-1].global_transform.origin - target_pos).length()
+		
+		# Check to see if the distance from the end effector to the target is within our error margin (CHAIN_TOLERANCE).
+		# If it not, move the chain towards the target (going forwards, backwards, and then applying rotation)
+		while dif > CHAIN_TOLERANCE:
+			chain_backward()
+			chain_forward()
+			chain_apply_rotation()
+			
+			# Update the difference between our end effector (the final bone in the chain) and the target
+			dif = (bone_nodes[bone_nodes.size()-1].global_transform.origin - target_pos).length()
+			
+			# Add one to chain_iterations. If we have reached our max iterations, then break
+			chain_iterations = chain_iterations + 1
+			if chain_iterations >= CHAIN_MAX_ITER:
+				break
+	
+	# Reset the bone node transforms to the skeleton bone transforms
+	#if (constrained == false): # Resetting seems to break bone constraints...
+	for i in range(0, bone_nodes.size()):
+		var reset_bone_trans = get_bone_transform(i)
+		bone_nodes[i].global_transform = reset_bone_trans
+
+
+func chain_backward():
+	# Backward reaching pass
+	
+	#var dir = -target.global_transform.basis.z.normalized()
+	
+	# Get the direction of the final bone by using the next to last bone if there is more than 2 bones.
+	# If there are only 2 bones, we use the target's forward Z vector instead (not ideal, but it works fairly well)
+	var dir
+	if bone_nodes.size() > 2:
+		dir = bone_nodes[bone_nodes.size()-2].global_transform.basis.z.normalized()
+	else:
+		dir = -target.global_transform.basis.z.normalized()
+	
+	# Set the position of the end effector (the final bone in the chain) to the target position
+	bone_nodes[bone_nodes.size()-1].global_transform.origin = target.global_transform.origin + (dir * bones_in_chain_lengths[bone_nodes.size()-1])
+	
+	# For all of the other bones, move them towards the target
+	var i = bones_in_chain.size() - 1
+	while i >= 1:
+		
+		i -= 1
+		
+		var r = bone_nodes[i+1].global_transform.origin - bone_nodes[i].global_transform.origin
+		var l = bones_in_chain_lengths[i] / r.length()
+		# Apply the new joint position
+		bone_nodes[i].global_transform.origin = (1 - l) * bone_nodes[i+1].global_transform.origin + l * bone_nodes[i].global_transform.origin
+
+
+func chain_forward():
+	# Forward reaching pass
+	
+	# Set root at initial position
+	bone_nodes[0].global_transform.origin = chain_origin.origin
+	
+	# Go through every bone in the bone chain
+	var i = 0
+	while i < bones_in_chain.size() - 1:
+		
+		var r = (bone_nodes[i+1].global_transform.origin - bone_nodes[i].global_transform.origin)
+		var l = bones_in_chain_lengths[i] / r.length()
+		
+		# Set the new joint position
+		var new_pos = (1 - l) * bone_nodes[i].global_transform.origin + l * bone_nodes[i+1].global_transform.origin
+		
+		# Apply constraints (if we have them)
+		# NOTE: this does not work. It is left in as an example to help others if they decide to add constraints
+		"""
+		if (constrained == true):
+			
+			var cf = bone_nodes[i].global_transform
+			cf = cf.looking_at(bone_nodes[i+1].global_transform.origin, Vector3(0, 1, 0))
+			
+			var line = (new_pos - bone_nodes[i+1].global_transform.origin).normalized() * bones_in_chain_lengths[i]
+			
+			new_pos += chain_constrain(new_pos, line, cf, i+1)
+		"""
+		
+		# Apply the new joint position, (potentially with constraints), to the bone node
+		bone_nodes[i+1].global_transform.origin = new_pos
+		
+		i += 1
+	
+
+
+# NOT USED -- part of the (not working) constraint system
+"""
+func chain_constrain(calc, line, cf, bone):
+	var scalar = calc.dot(line) / line.length()
+	var proj = scalar * line.normalized()
+	# NOTE: Something in the calculation for proj may be wrong.
+	
+	# get axis that is closest
+	# NOTE: Not sure if we need to do a calculation or not. For now, we are just going to use Basis	
+	var tmp = cf.looking_at(cf.origin - Vector3(0, 1, 0), Vector3(1, 0, 0))
+	var upvec = cf.basis.x
+	tmp = cf.looking_at(cf.origin - Vector3(1, 0, 0), Vector3(0, 1, 0))
+	var rightvec = cf.basis.z
+	
+	
+	# Get the vector from the projection to the calculated vector
+	var adjust = calc - proj
+	if scalar > 0:
+		# If we are below the cone, flip the projection vector
+		proj = -proj
+		pass
+	
+	# Get the 2D components
+	var xaspect = adjust.dot(rightvec)
+	var yaspect = adjust.dot(upvec)
+	
+	# Get the cross section of the cone
+	var constraint_angles = get_bone_constraints(bone)
+	var left = -(proj.length() * tan(deg2rad(constraint_angles[0])) )
+	var right = (proj.length() * tan(deg2rad(constraint_angles[1])) )
+	var up = (proj.length() * tan(deg2rad(constraint_angles[2])) )
+	var down = -(proj.length() * tan(deg2rad(constraint_angles[3])) )
+	
+	# Find the quadrant
+	var xbound = xaspect >= 0 and right or left
+	var ybound = yaspect >= 0 and up or down
+	
+	if xbound == true:
+		xbound = 1
+	else:
+		xbound = 0
+	if ybound == true:
+		ybound = 1
+	else:
+		ybound = 0
+	
+	
+	var f = calc
+	# Check if in 2D point lies in the ellipse
+	var ellipse = pow(xaspect, 2)/pow(xbound, 2) + pow(yaspect, 2)/pow(ybound, 2)
+	var inbounds = ellipse <= 1 and scalar >= 0
+	
+	if not inbounds:
+		# Get the angle of our out of ellipse point
+		var a = atan2(yaspect, xaspect)
+		# Find the nearest point
+		var x = xbound * cos(a)
+		var y = ybound * sin(a)
+		# Convert back to 3D
+		#f = (proj + rightvec * x + upvec * y ).normalized() * calc.length()
+		f = (proj + rightvec * x + upvec * y ).normalized() * bones_in_chain_lengths[bone]
+	
+	return f
+"""
+
+
+func chain_apply_rotation():
+	# Make all of the bones rotated correctly.
+	
+	# For each bone in the bone chain
+	for i in range(0, bones_in_chain.size()):
+		
+		# Get the bone's transform, NOT converted to world space
+		var bone_trans = get_bone_transform(i, false)
+		
+		# If this is the last bone in the bone chain, rotate the bone so it faces
+		# the same direction as the next to last bone in the bone chain if there are more than
+		# two bones. If there are only two bones, rotate the end effector towards the target
+		if i == bones_in_chain.size()-1:
+			
+			if bones_in_chain.size() > 2:
+				# Get the bone node for this bone, and the previous bone
+				var b_target = bone_nodes[i].global_transform
+				var b_target_two = bone_nodes[i-1].global_transform
+				
+				# Convert the bone nodes positions from world space to bone/skeleton space
+				b_target.origin = skeleton.global_transform.xform_inv(b_target.origin)
+				b_target_two.origin = skeleton.global_transform.xform_inv(b_target_two.origin)
+				
+				# Get the direction that the previous bone is pointing towards
+				var dir = (target.global_transform.origin - b_target_two.origin).normalized()
+				
+				# Make this bone look in the same the direction as the last bone
+				bone_trans = bone_trans.looking_at(b_target.origin + dir, Vector3(0, 1, 0))
+			else:
+				var b_target = target.global_transform
+				b_target.origin = skeleton.global_transform.xform_inv(b_target.origin)
+				bone_trans = bone_trans.looking_at(b_target.origin, Vector3(0, 1, 0))
+		
+		# If this is NOT the last bone in the bone chain, rotate the bone to look at the next
+		# bone in the bone chain.
+		else:
+			# Get the bone node for this bone, and the next bone
+			var b_target = bone_nodes[i].global_transform
+			var b_target_two = bone_nodes[i+1].global_transform
+			
+			# Convert the bone nodes positions from world space to bone/skeleton space
+			b_target.origin = skeleton.global_transform.xform_inv(b_target.origin)
+			b_target_two.origin = skeleton.global_transform.xform_inv(b_target_two.origin)
+			
+			# Get the direction towards the next bone
+			var dir = (b_target_two.origin - b_target.origin).normalized()
+			
+			# Make this bone look towards the direction of the next bone
+			bone_trans = bone_trans.looking_at(b_target.origin + dir, Vector3(0, 1, 0))
+		
+		# The the bone's (updated) transform
+		set_bone_transform(i, bone_trans)
+
+
+func get_bone_transform(bone, convert_to_world_space=true):
+	
+	# Get the global transform of the bone
+	var ret = skeleton.get_bone_global_pose(bone_IDs[bones_in_chain[bone]])
+	
+	# If we need to convert the bone position from bone/skeleton space to world space, we
+	# use the Xform of the skeleton (because bone/skeleton space is relative to the position of the skeleton node).
+	if convert_to_world_space == true:
+		ret.origin = skeleton.global_transform.xform(ret.origin)
+	
+	return ret
+
+
+func set_bone_transform(bone, trans):
+	# Set the global transform of the bone
+	skeleton.set_bone_global_pose(bone_IDs[bones_in_chain[bone]], trans)
+
+

3d/ik/addons/sade/editor_gizmo_texture.png.import

@@ -0,0 +1,33 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path.s3tc="res://.import/editor_gizmo_texture.png-be14d96c2d7829c8511766ceb15d5a7f.s3tc.stex"
+path.etc2="res://.import/editor_gizmo_texture.png-be14d96c2d7829c8511766ceb15d5a7f.etc2.stex"
+
+[deps]
+
+source_file="res://addons/sade/editor_gizmo_texture.png"
+source_md5="14289d2a3712e442d3d3adf307a54241"
+
+dest_files=[ "res://.import/editor_gizmo_texture.png-be14d96c2d7829c8511766ceb15d5a7f.s3tc.stex", "res://.import/editor_gizmo_texture.png-be14d96c2d7829c8511766ceb15d5a7f.etc2.stex" ]
+dest_md5="3279a3a982c66d6f404c81517b218531"
+
+[params]
+
+compress/mode=2
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=true
+flags/filter=false
+flags/mipmaps=true
+flags/anisotropic=false
+flags/srgb=1
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=false
+svg/scale=1.0

3d/ik/addons/sade/ik_fabrik.png.import

@@ -0,0 +1,32 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/ik_fabrik.png-c3d637ec075c87710a4a8abbfbd526e1.stex"
+
+[deps]
+
+source_file="res://addons/SADE/ik_fabrik.png"
+source_md5="2909090602f64d38ce0bb7314ec7b39d"
+
+dest_files=[ "res://.import/ik_fabrik.png-c3d637ec075c87710a4a8abbfbd526e1.stex" ]
+dest_md5="80bbb72f55f6ea1f119b08dc61b9526e"
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

3d/ik/addons/sade/ik_look_at.gd

@@ -0,0 +1,205 @@
+tool
+extends Spatial
+
+export (NodePath) var skeleton_path setget _set_skeleton_path
+export (String) var bone_name = ""
+export (int, "_process", "_physics_process", "_notification", "none") var update_mode = 0 setget _set_update
+export (int, "X-up", "Y-up", "Z-up") var look_at_axis = 1
+export (bool) var use_our_rot_x = false
+export (bool) var use_our_rot_y = false
+export (bool) var use_our_rot_z = false
+export (bool) var use_negative_our_rot = false
+export (Vector3) var additional_rotation = Vector3()
+export (bool) var debug_messages = false
+
+var skeleton_to_use
+var first_call = true
+const empty_vector = Vector3()
+
+func _ready():
+	
+	set_process(false)
+	set_physics_process(false)
+	set_notify_transform(false)
+	
+	if update_mode == 0:
+		set_process(true)
+	elif update_mode == 1:
+		set_physics_process(true)
+	elif update_mode == 2:
+		set_notify_transform(true)
+	else:
+		if debug_messages == true:
+			print (name, " - IK_LookAt: Unknown update mode. NOT updating skeleton")
+	
+	if Engine.editor_hint == true:
+		_setup_for_editor()
+
+
+func _setup_for_editor():
+	# So we can see the target in the editor, let's create a mesh instance,
+	# Add it as our child, and name it
+	var indicator = MeshInstance.new()
+	add_child(indicator)
+	indicator.name = "(EditorOnly) Visual indicator"
+
+	# We need to make a mesh for the mesh instance.
+	# The code below makes a small sphere mesh
+	var indicator_mesh = SphereMesh.new()
+	indicator_mesh.radius = 0.1
+	indicator_mesh.height = 0.2
+	indicator_mesh.radial_segments = 8
+	indicator_mesh.rings = 4
+
+	# The mesh needs a material (unless we want to use the defualt one).
+	# Let's create a material and use the EditorGizmoTexture to texture it.
+	var indicator_material = SpatialMaterial.new()
+	indicator_material.flags_unshaded = true
+	indicator_material.albedo_texture = preload("editor_gizmo_texture.png")
+	indicator_material.albedo_color = Color(1, 0.5, 0, 1)
+	indicator_mesh.material = indicator_material
+	indicator.mesh = indicator_mesh
+
+
+func _set_update(new_value):
+	update_mode = new_value
+	
+	# Set all of our processes to false
+	set_process(false)
+	set_physics_process(false)
+	set_notify_transform(false)
+	
+	# Based on the value of upate, change how we handle updating the skeleton
+	if update_mode == 0:
+		set_process(true)
+		if debug_messages == true:
+			print (name, " - IK_LookAt: updating skeleton using _process...")
+	elif update_mode == 1:
+		set_physics_process(true)
+		if debug_messages == true:
+			print (name, " - IK_LookAt: updating skeleton using _physics_process...")
+	elif update_mode == 2:
+		set_notify_transform(true)
+		if debug_messages == true:
+			print (name, " - IK_LookAt: updating skeleton using _notification...")
+	else:
+		if debug_messages == true:
+			print (name, " - IK_LookAt: NOT updating skeleton due to unknown update method...")
+
+
+func _set_skeleton_path(new_value):
+	
+	# Because get_node doesn't work in the first call, we just want to assign instead
+	# This is to get around a issue with NodePaths exposed to the editor
+	if first_call == true:
+		skeleton_path = new_value
+		return
+	
+	# Assign skeleton_path to whatever value is passed
+	skeleton_path = new_value
+	
+	if skeleton_path == null:
+		if debug_messages == true:
+			print (name, " - IK_LookAt: No Nodepath selected for skeleton_path!")
+		return
+	
+	# Get the node at that location, if there is one
+	var temp = get_node(skeleton_path)
+	if temp != null:
+		# If the node has the method "find_bone" then we can assume it is (likely) a skeleton
+		if temp.has_method("find_bone") == true:
+			skeleton_to_use = temp
+			if debug_messages == true:
+				print (name, " - IK_LookAt: attached to (new) skeleton")
+		# If not, then it's (likely) not a skeleton
+		else:
+			skeleton_to_use = null
+			if debug_messages == true:
+				print (name, " - IK_LookAt: skeleton_path does not point to a skeleton!")
+	else:
+		if debug_messages == true:
+			print (name, " - IK_LookAt: No Nodepath selected for skeleton_path!")
+
+
+func update_skeleton():
+	
+	# NOTE: Because get_node doesn't work in _ready, we need to skip
+	# a call before doing anything.
+	if first_call == true:
+		first_call = false
+		if skeleton_to_use == null:
+			_set_skeleton_path(skeleton_path)
+	
+	
+	# If we do not have a skeleton and/or we're not supposed to update, then return.
+	if skeleton_to_use == null:
+		return
+	if update_mode >= 3:
+		return
+	
+	# Get the bone
+	var bone = skeleton_to_use.find_bone(bone_name)
+	
+	# If no bone is found (-1), then return (and optionally print an error)
+	if bone == -1:
+		if debug_messages == true:
+			print (name, " - IK_LookAt: No bone in skeleton found with name [", bone_name, "]!")
+		return
+	
+	# get the bone's rest position, and our position
+	var rest = skeleton_to_use.get_bone_global_pose(bone)
+	var our_position = global_transform.origin
+	
+	# Convert our position relative to the skeleton's transform
+	var target_pos = skeleton_to_use.global_transform.xform_inv(global_transform.origin)
+	
+	# Call helper's look_at function with the chosen up axis.
+	if look_at_axis == 0:
+		rest = rest.looking_at(target_pos, Vector3(1, 0, 0))
+	elif look_at_axis == 1:
+		rest = rest.looking_at(target_pos, Vector3(0, 1, 0))
+	elif look_at_axis == 2:
+		rest = rest.looking_at(target_pos, Vector3(0, 0, 1))
+	else:
+		rest = rest.looking_at(target_pos, Vector3(0, 1, 0))
+		if debug_messages == true:
+			print (name, " - IK_LookAt: Unknown look_at_axis value!")
+	
+	# Get our rotation euler, and the bone's rotation euler
+	var rest_euler = rest.basis.get_euler()
+	var self_euler = global_transform.basis.orthonormalized().get_euler()
+	
+	# If we using negative rotation, we flip our rotation euler
+	if use_negative_our_rot == true:
+		self_euler = -self_euler
+	
+	# Apply our rotation euler, if wanted/required
+	if use_our_rot_x == true:
+		rest_euler.x = self_euler.x
+	if use_our_rot_y == true:
+		rest_euler.y = self_euler.y
+	if use_our_rot_z == true:
+		rest_euler.z = self_euler.z
+	
+	# Rotate the bone by the (potentially) changed euler angle(s)
+	rest.basis = Basis(rest_euler)
+	
+	# If we have additional rotation, then rotate it by the local rotation vectors
+	if additional_rotation != empty_vector:
+		rest.basis = rest.basis.rotated(rest.basis.x, deg2rad(additional_rotation.x))
+		rest.basis = rest.basis.rotated(rest.basis.y, deg2rad(additional_rotation.y))
+		rest.basis = rest.basis.rotated(rest.basis.z, deg2rad(additional_rotation.z))
+	
+	# Finally, apply the bone rotation to the skeleton
+	skeleton_to_use.set_bone_global_pose(bone, rest)
+
+
+# Various upate methods
+# ---------------------
+func _process(delta):
+	update_skeleton()
+func _physics_process(delta):
+	update_skeleton()
+func _notification(what):
+	if what == NOTIFICATION_TRANSFORM_CHANGED:
+		update_skeleton()

3d/ik/addons/sade/ik_look_at.png.import

@@ -0,0 +1,32 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/ik_look_at.png-ec8164b5f09a539e05ec8153e50e1d99.stex"
+
+[deps]
+
+source_file="res://addons/SADE/ik_look_at.png"
+source_md5="49fed7fb3ba1856215d1f334ed8bc583"
+
+dest_files=[ "res://.import/ik_look_at.png-ec8164b5f09a539e05ec8153e50e1d99.stex" ]
+dest_md5="690d9e1323d33b31eefd4014776d78d4"
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

3d/ik/addons/sade/plugin.cfg

@@ -0,0 +1,7 @@
+[plugin]
+
+name="S.A.D.E (Skeleton additions and extensions)"
+description="S.A.D.E is A bunch of helpful nodes designed to make using skeletons in Godot powerful and easy."
+author="TwistedTwigleg"
+version="0.1.0"
+script="plugin_main.gd"

3d/ik/addons/sade/plugin_main.gd

@@ -0,0 +1,21 @@
+tool
+extends EditorPlugin
+
+func _enter_tree():
+	# Plugin Initialization here!
+	
+	# ------ IK STUFF ------
+	add_custom_type("IK_LookAt", "Spatial", preload("ik_look_at.gd"), preload("ik_look_at.png"))
+	add_custom_type("IK_FABRIK", "Spatial", preload("ik_fabrik.gd"), preload("ik_fabrik.png"))
+	# ------ ---------- ------
+	
+
+
+func _exit_tree():
+	# Plugin Clean-up here!
+	
+	# ------ IK STUFF ------
+	remove_custom_type("IK_LookAt")
+	remove_custom_type("IK_FABRIK")
+	# ------ ---------- ------
+	

3d/ik/button_change_scene.gd

@@ -0,0 +1,10 @@
+extends Button
+
+export (String, FILE) var scene_to_change_to = null
+
+func _ready():
+	connect("pressed", self, "change_scene")
+
+func change_scene():
+	if scene_to_change_to != null:
+		get_tree().change_scene(scene_to_change_to)

3d/ik/default_env.tres

@@ -0,0 +1,101 @@
+[gd_resource type="Environment" load_steps=2 format=2]
+
+[sub_resource type="ProceduralSky" id=1]
+
+radiance_size = 4
+sky_top_color = Color( 0.0470588, 0.454902, 0.976471, 1 )
+sky_horizon_color = Color( 0.556863, 0.823529, 0.909804, 1 )
+sky_curve = 0.25
+sky_energy = 1.0
+ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
+ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
+ground_curve = 0.01
+ground_energy = 1.0
+sun_color = Color( 1, 1, 1, 1 )
+sun_latitude = 35.0
+sun_longitude = 0.0
+sun_angle_min = 1.0
+sun_angle_max = 100.0
+sun_curve = 0.05
+sun_energy = 16.0
+texture_size = 2
+
+[resource]
+
+background_mode = 2
+background_sky = SubResource( 1 )
+background_sky_custom_fov = 0.0
+background_color = Color( 0, 0, 0, 1 )
+background_energy = 1.0
+background_canvas_max_layer = 0
+ambient_light_color = Color( 0, 0, 0, 1 )
+ambient_light_energy = 1.0
+ambient_light_sky_contribution = 1.0
+fog_enabled = false
+fog_color = Color( 0.5, 0.6, 0.7, 1 )
+fog_sun_color = Color( 1, 0.9, 0.7, 1 )
+fog_sun_amount = 0.0
+fog_depth_enabled = true
+fog_depth_begin = 10.0
+fog_depth_curve = 1.0
+fog_transmit_enabled = false
+fog_transmit_curve = 1.0
+fog_height_enabled = false
+fog_height_min = 0.0
+fog_height_max = 100.0
+fog_height_curve = 1.0
+tonemap_mode = 0
+tonemap_exposure = 1.0
+tonemap_white = 1.0
+auto_exposure_enabled = false
+auto_exposure_scale = 0.4
+auto_exposure_min_luma = 0.05
+auto_exposure_max_luma = 8.0
+auto_exposure_speed = 0.5
+ss_reflections_enabled = false
+ss_reflections_max_steps = 64
+ss_reflections_fade_in = 0.15
+ss_reflections_fade_out = 2.0
+ss_reflections_depth_tolerance = 0.2
+ss_reflections_roughness = true
+ssao_enabled = false
+ssao_radius = 1.0
+ssao_intensity = 1.0
+ssao_radius2 = 0.0
+ssao_intensity2 = 1.0
+ssao_bias = 0.01
+ssao_light_affect = 0.0
+ssao_color = Color( 0, 0, 0, 1 )
+ssao_quality = 0
+ssao_blur = 3
+ssao_edge_sharpness = 4.0
+dof_blur_far_enabled = false
+dof_blur_far_distance = 10.0
+dof_blur_far_transition = 5.0
+dof_blur_far_amount = 0.1
+dof_blur_far_quality = 1
+dof_blur_near_enabled = false
+dof_blur_near_distance = 2.0
+dof_blur_near_transition = 1.0
+dof_blur_near_amount = 0.1
+dof_blur_near_quality = 1
+glow_enabled = false
+glow_levels/1 = false
+glow_levels/2 = false
+glow_levels/3 = true
+glow_levels/4 = false
+glow_levels/5 = true
+glow_levels/6 = false
+glow_levels/7 = false
+glow_intensity = 0.8
+glow_strength = 1.0
+glow_bloom = 0.0
+glow_blend_mode = 2
+glow_hdr_threshold = 1.0
+glow_hdr_scale = 2.0
+glow_bicubic_upscale = false
+adjustment_enabled = false
+adjustment_brightness = 1.0
+adjustment_contrast = 1.0
+adjustment_saturation = 1.0
+

3d/ik/example_player.gd

@@ -0,0 +1,241 @@
+extends KinematicBody
+
+# Walking variables.
+const norm_grav = -38.8
+var vel = Vector3()
+const MAX_SPEED = 22
+const JUMP_SPEED = 26
+const ACCEL= 8.5
+
+# A vector for storing the direction the player intends to walk towards.
+var dir = Vector3()
+
+# Sprinting variables. Similar to the varibles above, just allowing for quicker movement
+const MAX_SPRINT_SPEED = 34
+const SPRINT_ACCEL = 18
+# A boolean to track whether or not we are sprinting
+var is_sprinting = false
+
+# How fast we slow down, and the steepest angle we can climb.
+const DEACCEL= 28
+const MAX_SLOPE_ANGLE = 40
+
+# We need the camera for getting directional vectors. We rotate ourselves on the Y-axis using
+# the camera_holder to avoid rotating on more than one axis at a time.
+var camera
+var camera_holder
+# You may need to adjust depending on the sensitivity of your mouse
+var MOUSE_SENSITIVITY = 0.08
+
+# A boolean for tracking whether the jump button is down
+var jump_button_down = false
+
+# The current lean value (our position on the lean track) and the path follow node
+var lean_value = 0.5
+var path_follow_node = null
+
+# A variable for tracking if the right mouse button is down.
+var right_mouse_down = false
+# A variable for tracking if we can fire using the left mouse button
+var left_mouse_timer = 0
+const LEFT_MOUSE_FIRE_TIME = 0.15
+# How fast the bullets launch
+const BULLET_SPEED = 100
+
+# The animation player for aiming down the sights
+var anim_player = null
+# A boolean for tracking whether we can change animations or not
+var anim_done = true
+# The current animation name
+var current_anim = "Starter"
+
+# The end of the pistol
+var pistol_end = null
+# The simple bullet rigidbody
+var simple_bullet = preload("res://simple_bullet.tscn")
+
+
+func _ready():
+	
+	camera = get_node("CameraHolder/Lean_Path/PathFollow/IK_LookAt_Chest/Camera")
+	camera_holder = get_node("CameraHolder")
+	path_follow_node = get_node("CameraHolder/Lean_Path/PathFollow")
+	
+	anim_player = get_node("CameraHolder/AnimationPlayer")
+	anim_player.connect("animation_finished", self, "animation_finished")
+	
+	pistol_end = get_node("CameraHolder/Weapon/Pistol/Pistol_end")
+	
+	set_physics_process(true)
+	Input.set_mouse_mode(Input.MOUSE_MODE_CAPTURED)
+	set_process_input(true)
+
+
+func _physics_process(delta):
+	process_input(delta)
+	process_movement(delta)
+
+
+func process_input(delta):
+	
+	# Reset dir, so our previous movement does not effect us
+	dir = Vector3()
+	# Get the camera's global transform so we can use its directional vectors
+	var cam_xform = camera.get_global_transform()
+	
+	# ----------------------------------
+	# Walking
+	if Input.is_key_pressed(KEY_UP) or Input.is_key_pressed(KEY_W):
+		dir += -cam_xform.basis[2]
+	if Input.is_key_pressed(KEY_DOWN) or Input.is_key_pressed(KEY_S):
+		dir += cam_xform.basis[2]
+	if Input.is_key_pressed(KEY_LEFT) or Input.is_key_pressed(KEY_A):
+		dir += -cam_xform.basis[0]
+	if Input.is_key_pressed(KEY_RIGHT) or Input.is_key_pressed(KEY_D):
+		dir += cam_xform.basis[0]
+	
+	if Input.is_action_just_pressed("ui_cancel"):
+		if Input.get_mouse_mode() == Input.MOUSE_MODE_VISIBLE:
+			Input.set_mouse_mode(Input.MOUSE_MODE_CAPTURED)
+		else:
+			Input.set_mouse_mode(Input.MOUSE_MODE_VISIBLE)
+	
+	if Input.is_mouse_button_pressed(2):
+		if right_mouse_down == false:
+			right_mouse_down = true
+			
+			if anim_done == true:
+				if current_anim != "Aiming":
+					anim_player.play("Aiming")
+					current_anim = "Aiming"
+				else:
+					anim_player.play("Idle")
+					current_anim = "Idle"
+				
+				anim_done = false
+	else:
+		right_mouse_down = false
+	
+	if Input.is_mouse_button_pressed(1):
+		if left_mouse_timer <= 0:
+			left_mouse_timer = LEFT_MOUSE_FIRE_TIME
+			
+			# Create a bullet
+			var new_bullet = simple_bullet.instance()
+			get_tree().root.add_child(new_bullet)
+			new_bullet.global_transform = pistol_end.global_transform
+			new_bullet.linear_velocity = new_bullet.global_transform.basis.z * BULLET_SPEED
+	if left_mouse_timer > 0:
+		left_mouse_timer -= delta
+	# ----------------------------------
+	
+	
+	# ----------------------------------
+	# Sprinting
+	if Input.is_key_pressed(KEY_SHIFT):
+		is_sprinting = true
+	else:
+		is_sprinting = false
+	# ----------------------------------
+	
+	# ----------------------------------
+	# Jumping
+	if Input.is_key_pressed(KEY_SPACE):
+		if jump_button_down == false:
+			jump_button_down = true
+			if is_on_floor():
+				vel.y = JUMP_SPEED
+	else:
+		jump_button_down = false
+	# ----------------------------------
+	
+	
+	# ----------------------------------
+	# Leaninng
+	if Input.is_key_pressed(KEY_Q):
+		lean_value += 1.2 * delta
+	elif Input.is_key_pressed(KEY_E):
+		lean_value -= 1.2 * delta
+	else:
+		if lean_value > 0.5:
+			lean_value -= 1 * delta
+			if lean_value < 0.5:
+				lean_value = 0.5
+		elif lean_value < 0.5:
+			lean_value += 1 * delta
+			if lean_value > 0.5:
+				lean_value = 0.5
+	
+	lean_value = clamp(lean_value, 0, 1)
+	path_follow_node.unit_offset = lean_value
+	if lean_value < 0.5:
+		var lerp_value = lean_value * 2
+		path_follow_node.rotation_degrees.z = (20 * (1 - lerp_value))
+	else:
+		var lerp_value = (lean_value - 0.5) * 2
+		path_follow_node.rotation_degrees.z = (-20 * lerp_value)
+	# ----------------------------------
+	
+
+func process_movement(delta):
+	
+	var grav = norm_grav
+	
+	dir.y = 0
+	dir = dir.normalized()
+	
+	vel.y += delta*grav
+	
+	var hvel = vel
+	hvel.y = 0
+	
+	var target = dir
+	if is_sprinting:
+		target *= MAX_SPRINT_SPEED
+	else:
+		target *= MAX_SPEED
+	
+	
+	var accel
+	if dir.dot(hvel) > 0:
+		if is_sprinting == false:
+			accel = ACCEL
+		else:
+			accel = SPRINT_ACCEL
+	else:
+		accel = DEACCEL
+	
+	hvel = hvel.linear_interpolate(target, accel*delta)
+	
+	vel.x = hvel.x
+	vel.z = hvel.z
+	
+	vel = move_and_slide(vel,Vector3(0,1,0))
+
+
+# Mouse based camera movement
+func _input(event):
+	
+	if event is InputEventMouseMotion && Input.get_mouse_mode() == Input.MOUSE_MODE_CAPTURED:
+		
+		rotate_y(deg2rad(event.relative.x * MOUSE_SENSITIVITY * -1))
+		camera_holder.rotate_x(deg2rad(event.relative.y * MOUSE_SENSITIVITY))
+		
+		# We need to clamp the camera's rotation so we cannot rotate ourselves upside down
+		var camera_rot = camera_holder.rotation_degrees
+		if camera_rot.x < -40:
+			camera_rot.x = -40
+		elif camera_rot.x > 60:
+			camera_rot.x = 60
+		
+		camera_holder.rotation_degrees = camera_rot
+	
+	else:
+		pass
+
+
+func animation_finished(anim):
+	anim_done = true
+
+
+

3d/ik/fabrik_ik.tscn

@@ -0,0 +1,629 @@
+[gd_scene load_steps=15 format=2]
+
+[ext_resource path="res://addons/sade/editor_gizmo_texture.png" type="Texture" id=1]
+[ext_resource path="res://godot_battle_bot.dae" type="PackedScene" id=2]
+[ext_resource path="res://Target_From_MousePos.gd" type="Script" id=3]
+[ext_resource path="res://addons/sade/ik_look_at.gd" type="Script" id=4]
+[ext_resource path="res://addons/sade/ik_look_at.png" type="Texture" id=5]
+[ext_resource path="res://addons/SADE/IK_FABRIK.gd" type="Script" id=6]
+[ext_resource path="res://addons/SADE/IK_FABRIK.png" type="Texture" id=7]
+[ext_resource path="res://Button_Change_Scene.gd" type="Script" id=8]
+
+[sub_resource type="PlaneMesh" id=1]
+
+size = Vector2( 40, 40 )
+subdivide_width = 0
+subdivide_depth = 0
+
+[sub_resource type="SpatialMaterial" id=2]
+
+render_priority = 0
+flags_transparent = false
+flags_unshaded = false
+flags_vertex_lighting = false
+flags_no_depth_test = false
+flags_use_point_size = false
+flags_world_triplanar = false
+flags_fixed_size = false
+flags_albedo_tex_force_srgb = false
+vertex_color_use_as_albedo = false
+vertex_color_is_srgb = false
+params_diffuse_mode = 0
+params_specular_mode = 0
+params_blend_mode = 0
+params_cull_mode = 0
+params_depth_draw_mode = 0
+params_line_width = 1.0
+params_point_size = 1.0
+params_billboard_mode = 0
+params_grow = false
+params_use_alpha_scissor = false
+albedo_color = Color( 1, 1, 1, 1 )
+albedo_texture = ExtResource( 1 )
+metallic = 0.0
+metallic_specular = 0.5
+metallic_texture_channel = 0
+roughness = 0.2
+roughness_texture_channel = 0
+emission_enabled = false
+normal_enabled = false
+rim_enabled = false
+clearcoat_enabled = false
+anisotropy_enabled = false
+ao_enabled = false
+depth_enabled = false
+subsurf_scatter_enabled = false
+transmission_enabled = false
+refraction_enabled = false
+detail_enabled = false
+uv1_scale = Vector3( 0.25, 0.25, 0.25 )
+uv1_offset = Vector3( 0, 0, 0 )
+uv1_triplanar = true
+uv1_triplanar_sharpness = 1.0
+uv2_scale = Vector3( 1, 1, 1 )
+uv2_offset = Vector3( 0, 0, 0 )
+uv2_triplanar = false
+uv2_triplanar_sharpness = 1.0
+proximity_fade_enable = false
+distance_fade_enable = false
+_sections_unfolded = [ "UV1" ]
+
+[sub_resource type="ProceduralSky" id=3]
+
+radiance_size = 4
+sky_top_color = Color( 0.0470588, 0.454902, 0.976471, 1 )
+sky_horizon_color = Color( 0.556863, 0.823529, 0.909804, 1 )
+sky_curve = 0.25
+sky_energy = 1.0
+ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
+ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
+ground_curve = 0.01
+ground_energy = 1.0
+sun_color = Color( 1, 1, 1, 1 )
+sun_latitude = 35.0
+sun_longitude = 0.0
+sun_angle_min = 1.0
+sun_angle_max = 100.0
+sun_curve = 0.05
+sun_energy = 16.0
+texture_size = 2
+
+[sub_resource type="Environment" id=4]
+
+background_mode = 2
+background_sky = SubResource( 3 )
+background_sky_custom_fov = 0.0
+background_color = Color( 0, 0, 0, 1 )
+background_energy = 1.0
+background_canvas_max_layer = 0
+ambient_light_color = Color( 0, 0, 0, 1 )
+ambient_light_energy = 1.0
+ambient_light_sky_contribution = 1.0
+fog_enabled = false
+fog_color = Color( 0.5, 0.6, 0.7, 1 )
+fog_sun_color = Color( 1, 0.9, 0.7, 1 )
+fog_sun_amount = 0.0
+fog_depth_enabled = true
+fog_depth_begin = 10.0
+fog_depth_curve = 1.0
+fog_transmit_enabled = false
+fog_transmit_curve = 1.0
+fog_height_enabled = false
+fog_height_min = 0.0
+fog_height_max = 100.0
+fog_height_curve = 1.0
+tonemap_mode = 3
+tonemap_exposure = 1.0
+tonemap_white = 1.0
+auto_exposure_enabled = false
+auto_exposure_scale = 0.4
+auto_exposure_min_luma = 0.05
+auto_exposure_max_luma = 8.0
+auto_exposure_speed = 0.5
+ss_reflections_enabled = false
+ss_reflections_max_steps = 64
+ss_reflections_fade_in = 0.15
+ss_reflections_fade_out = 2.0
+ss_reflections_depth_tolerance = 0.2
+ss_reflections_roughness = true
+ssao_enabled = false
+ssao_radius = 1.0
+ssao_intensity = 1.0
+ssao_radius2 = 0.0
+ssao_intensity2 = 1.0
+ssao_bias = 0.01
+ssao_light_affect = 0.0
+ssao_color = Color( 0, 0, 0, 1 )
+ssao_quality = 0
+ssao_blur = 3
+ssao_edge_sharpness = 4.0
+dof_blur_far_enabled = false
+dof_blur_far_distance = 10.0
+dof_blur_far_transition = 5.0
+dof_blur_far_amount = 0.1
+dof_blur_far_quality = 1
+dof_blur_near_enabled = false
+dof_blur_near_distance = 2.0
+dof_blur_near_transition = 1.0
+dof_blur_near_amount = 0.1
+dof_blur_near_quality = 1
+glow_enabled = true
+glow_levels/1 = true
+glow_levels/2 = true
+glow_levels/3 = true
+glow_levels/4 = false
+glow_levels/5 = false
+glow_levels/6 = false
+glow_levels/7 = false
+glow_intensity = 0.2
+glow_strength = 1.0
+glow_bloom = 0.03
+glow_blend_mode = 0
+glow_hdr_threshold = 1.0
+glow_hdr_scale = 2.0
+glow_bicubic_upscale = false
+adjustment_enabled = false
+adjustment_brightness = 1.0
+adjustment_contrast = 1.0
+adjustment_saturation = 1.0
+_sections_unfolded = [ "Glow", "Glow/levels" ]
+
+[sub_resource type="CubeMesh" id=5]
+
+size = Vector3( 1, 1, 1 )
+subdivide_width = 0
+subdivide_height = 0
+subdivide_depth = 0
+
+[sub_resource type="SpatialMaterial" id=6]
+
+render_priority = 0
+flags_transparent = false
+flags_unshaded = false
+flags_vertex_lighting = false
+flags_no_depth_test = false
+flags_use_point_size = false
+flags_world_triplanar = false
+flags_fixed_size = false
+flags_albedo_tex_force_srgb = false
+vertex_color_use_as_albedo = false
+vertex_color_is_srgb = false
+params_diffuse_mode = 0
+params_specular_mode = 0
+params_blend_mode = 0
+params_cull_mode = 0
+params_depth_draw_mode = 0
+params_line_width = 1.0
+params_point_size = 1.0
+params_billboard_mode = 0
+params_grow = false
+params_use_alpha_scissor = false
+albedo_color = Color( 0, 0.191406, 0.765625, 1 )
+metallic = 0.0
+metallic_specular = 0.5
+metallic_texture_channel = 0
+roughness = 0.0
+roughness_texture_channel = 0
+emission_enabled = false
+normal_enabled = false
+rim_enabled = false
+clearcoat_enabled = false
+anisotropy_enabled = false
+ao_enabled = false
+depth_enabled = false
+subsurf_scatter_enabled = false
+transmission_enabled = false
+refraction_enabled = false
+detail_enabled = false
+uv1_scale = Vector3( 1, 1, 1 )
+uv1_offset = Vector3( 0, 0, 0 )
+uv1_triplanar = false
+uv1_triplanar_sharpness = 1.0
+uv2_scale = Vector3( 1, 1, 1 )
+uv2_offset = Vector3( 0, 0, 0 )
+uv2_triplanar = false
+uv2_triplanar_sharpness = 1.0
+proximity_fade_enable = false
+distance_fade_enable = false
+_sections_unfolded = [ "Albedo" ]
+
+[node name="FABRIK_IK" type="Spatial"]
+
+[node name="Floor_plane" type="MeshInstance" parent="." index="0"]
+
+layers = 1
+material_override = null
+cast_shadow = 1
+extra_cull_margin = 0.0
+use_in_baked_light = false
+lod_min_distance = 0.0
+lod_min_hysteresis = 0.0
+lod_max_distance = 0.0
+lod_max_hysteresis = 0.0
+mesh = SubResource( 1 )
+skeleton = NodePath("..")
+material/0 = SubResource( 2 )
+_sections_unfolded = [ "material" ]
+
+[node name="DirectionalLight" type="DirectionalLight" parent="." index="1"]
+
+transform = Transform( 0.56827, 0.673454, -0.472789, 0, 0.574581, 0.818448, 0.822842, -0.465099, 0.326517, -9.77531, 11.5204, 11.766 )
+layers = 1
+light_color = Color( 1, 1, 1, 1 )
+light_energy = 1.0
+light_indirect_energy = 1.0
+light_negative = false
+light_specular = 0.5
+light_bake_mode = 1
+light_cull_mask = -1
+shadow_enabled = false
+shadow_color = Color( 0, 0, 0, 1 )
+shadow_bias = 0.1
+shadow_contact = 0.0
+shadow_reverse_cull_face = false
+editor_only = false
+directional_shadow_mode = 2
+directional_shadow_split_1 = 0.1
+directional_shadow_split_2 = 0.2
+directional_shadow_split_3 = 0.5
+directional_shadow_blend_splits = false
+directional_shadow_normal_bias = 0.8
+directional_shadow_bias_split_scale = 0.25
+directional_shadow_depth_range = 0
+directional_shadow_max_distance = 200.0
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="." index="2"]
+
+environment = SubResource( 4 )
+
+[node name="BattleBot" parent="." index="3" instance=ExtResource( 2 )]
+
+editor/display_folded = true
+
+[node name="Camera" type="Camera" parent="." index="4"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5014, 8.81922 )
+keep_aspect = 1
+cull_mask = 1048575
+environment = null
+h_offset = 0.0
+v_offset = 0.0
+doppler_tracking = 0
+projection = 0
+current = false
+fov = 70.0
+size = 1.0
+near = 0.05
+far = 100.0
+script = ExtResource( 3 )
+MOVEMENT_SPEED = -6.0
+flip_axis = true
+
+[node name="targets" type="Spatial" parent="Camera" index="0"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -5.41814 )
+
+[node name="IK_LookAt_Head" type="Spatial" parent="Camera/targets" index="0"]
+
+script = ExtResource( 4 )
+_sections_unfolded = [ "Transform" ]
+__meta__ = {
+"_editor_icon": ExtResource( 5 )
+}
+skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
+bone_name = "Head"
+update_mode = 0
+look_at_axis = 1
+use_our_rot_x = false
+use_our_rot_y = false
+use_our_rot_z = false
+use_negative_our_rot = false
+additional_rotation = Vector3( 90, 0, 0 )
+debug_messages = false
+
+[node name="IK_FABRIK_Left_Arm" type="Spatial" parent="Camera/targets" index="1"]
+
+editor/display_folded = true
+script = ExtResource( 6 )
+__meta__ = {
+"_editor_icon": ExtResource( 7 )
+}
+skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
+bones_in_chain = PoolStringArray( "Left_UpperArm", "Left_LowerArm" )
+bones_in_chain_lengths = PoolRealArray( 1.97, 3 )
+update_mode = 0
+chain_iterations = 10
+limit_chain_iterations = false
+reset_iterations_on_update = false
+use_middle_joint_target = true
+
+[node name="target" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm" index="0"]
+
+editor/display_folded = true
+transform = Transform( 0.518503, 0, -0.855076, 0, 1, 0, 0.855076, 0, 0.518503, 1.13159, 0, -0.155596 )
+
+[node name="IK_LookAt_LH" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm/target" index="0"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.343393, -0.133381, 0.836605 )
+script = ExtResource( 4 )
+__meta__ = {
+"_editor_icon": ExtResource( 5 )
+}
+skeleton_path = NodePath("../../../../../BattleBot/Armature/Skeleton")
+bone_name = "Left_Hand"
+update_mode = 0
+look_at_axis = 1
+use_our_rot_x = false
+use_our_rot_y = false
+use_our_rot_z = false
+use_negative_our_rot = false
+additional_rotation = Vector3( 0, 0, 90 )
+debug_messages = false
+
+[node name="middle_joint_target" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm" index="1"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 7.16849, 0, -5.31922 )
+
+[node name="Left_UpperArm" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm" index="2"]
+
+transform = Transform( -0.66477, 0.0771345, -0.743055, -2.23517e-08, 0.994655, 0.103252, 0.747048, 0.0686391, -0.661217, 1.53444, 0.300478, -3.63533 )
+
+[node name="Left_LowerArm" type="Spatial" parent="Camera/targets/IK_FABRIK_Left_Arm" index="3"]
+
+transform = Transform( -0.773624, -0.0228999, 0.633231, 2.98023e-08, 0.999347, 0.03614, -0.633645, 0.0279588, -0.773119, 2.94998, 0.10378, -2.37569 )
+
+[node name="IK_FABRIK_Right_Arm" type="Spatial" parent="Camera/targets" index="2"]
+
+editor/display_folded = true
+script = ExtResource( 6 )
+__meta__ = {
+"_editor_icon": ExtResource( 7 )
+}
+skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
+bones_in_chain = PoolStringArray( "Right_UpperArm", "Right_LowerArm", "Right_Hand" )
+bones_in_chain_lengths = PoolRealArray( 1.97, 3, 1.2 )
+update_mode = 0
+chain_iterations = 2
+limit_chain_iterations = false
+reset_iterations_on_update = false
+use_middle_joint_target = true
+
+[node name="target" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm" index="0"]
+
+editor/display_folded = true
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -0.229958, 0, 0.929313 )
+
+[node name="IK_LookAt_RH" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm/target" index="0"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.0544824, -0.133381, 0.332403 )
+script = ExtResource( 4 )
+__meta__ = {
+"_editor_icon": ExtResource( 5 )
+}
+skeleton_path = NodePath("../../../../../BattleBot/Armature/Skeleton")
+bone_name = "Right_Hand"
+update_mode = 0
+look_at_axis = 1
+use_our_rot_x = false
+use_our_rot_y = false
+use_our_rot_z = false
+use_negative_our_rot = false
+additional_rotation = Vector3( 0, 0, 90 )
+debug_messages = false
+
+[node name="middle_joint_target" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm" index="1"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -6.34515, 0, -3.7843 )
+
+[node name="Right_UpperArm" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm" index="2"]
+
+transform = Transform( -0.694982, -0.0753926, 0.715064, -7.45058e-09, 0.994488, 0.104854, -0.719028, 0.0728714, -0.691151, -1.53339, 0.300478, -3.63533 )
+
+[node name="Right_LowerArm" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm" index="3"]
+
+transform = Transform( -0.792024, 0.0165705, -0.610266, 0, 0.999631, 0.0271429, 0.61049, 0.0214978, -0.791732, -2.89561, 0.100753, -2.31866 )
+
+[node name="Right_Hand" type="Spatial" parent="Camera/targets/IK_FABRIK_Right_Arm" index="4"]
+
+transform = Transform( -0.678335, 0.00698586, -0.734719, -1.86265e-09, 0.999955, 0.00950778, 0.734753, 0.00644946, -0.678304, -1.07914, 0.0200729, 0.0379109 )
+
+[node name="MeshInstance" type="MeshInstance" parent="Camera/targets" index="3"]
+
+layers = 1
+material_override = null
+cast_shadow = 1
+extra_cull_margin = 0.0
+use_in_baked_light = false
+lod_min_distance = 0.0
+lod_min_hysteresis = 0.0
+lod_max_distance = 0.0
+lod_max_hysteresis = 0.0
+mesh = SubResource( 5 )
+skeleton = NodePath("..")
+material/0 = SubResource( 6 )
+_sections_unfolded = [ "material" ]
+
+[node name="Control" type="Control" parent="." index="5"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_right = 40.0
+margin_bottom = 40.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+
+[node name="Panel" type="Panel" parent="Control" index="0"]
+
+modulate = Color( 1, 1, 1, 0.784314 )
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = -2.0
+margin_top = 530.0
+margin_right = 1028.0
+margin_bottom = 600.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+_sections_unfolded = [ "Visibility" ]
+
+[node name="Label" type="Label" parent="Control/Panel" index="0"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 12.0
+margin_top = 10.0
+margin_right = 1012.0
+margin_bottom = 41.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 2
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 4
+text = "F.A.B.R.I.K IK
+Move mouse to move IK targets
+(Using 3 bones in the right hand, only 2 in the left. 3+ recommended)"
+align = 1
+valign = 1
+percent_visible = 1.0
+lines_skipped = 0
+max_lines_visible = -1
+
+[node name="Label_extra" type="Label" parent="Control/Panel" index="1"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 12.0
+margin_top = 80.0
+margin_right = 1012.0
+margin_bottom = 128.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 2
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 4
+text = "NOTE: You will get a few errors when saving with FABRIK IK nodes in your scene
+This is a known bug. Please ignore the errors for now, as they do not do anything
+(They're just annoying. If you find a fix, please add it to the demo repository!)"
+align = 1
+valign = 1
+percent_visible = 1.0
+lines_skipped = 0
+max_lines_visible = -1
+
+[node name="Label_left" type="Label" parent="Control/Panel" index="2"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 782.0
+margin_top = 4.0
+margin_right = 895.0
+margin_bottom = 18.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 2
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 4
+text = "Left Hand"
+align = 1
+percent_visible = 1.0
+lines_skipped = 0
+max_lines_visible = -1
+
+[node name="Label_right" type="Label" parent="Control/Panel" index="3"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 136.0
+margin_top = 5.0
+margin_right = 249.0
+margin_bottom = 19.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 2
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 4
+text = "Right Hand"
+align = 1
+percent_visible = 1.0
+lines_skipped = 0
+max_lines_visible = -1
+
+[node name="Button_Next" type="Button" parent="Control" index="1"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 900.0
+margin_top = 540.0
+margin_right = 1019.0
+margin_bottom = 590.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+focus_mode = 2
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+toggle_mode = false
+enabled_focus_mode = 2
+shortcut = null
+group = null
+text = "Next scene"
+flat = false
+align = 1
+script = ExtResource( 8 )
+scene_to_change_to = "res://fps_example.tscn"
+
+[node name="Button_Previous" type="Button" parent="Control" index="2"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 10.0
+margin_top = 540.0
+margin_right = 129.0
+margin_bottom = 590.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+focus_mode = 2
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+toggle_mode = false
+enabled_focus_mode = 2
+shortcut = null
+group = null
+text = "Previous scene"
+flat = false
+align = 1
+script = ExtResource( 8 )
+scene_to_change_to = "res://look_at_ik.tscn"
+
+
+[editable path="BattleBot"]

3d/ik/godot_battle_bot_colors.png.import

@@ -0,0 +1,33 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path.s3tc="res://.import/godot_battle_bot_colors.png-e31963bb1727b598c8ab928a0383fa54.s3tc.stex"
+path.etc2="res://.import/godot_battle_bot_colors.png-e31963bb1727b598c8ab928a0383fa54.etc2.stex"
+
+[deps]
+
+source_file="res://godot_battle_bot_colors.png"
+source_md5="12a4d2c319a38483b2aa8d504f39b777"
+
+dest_files=[ "res://.import/godot_battle_bot_colors.png-e31963bb1727b598c8ab928a0383fa54.s3tc.stex", "res://.import/godot_battle_bot_colors.png-e31963bb1727b598c8ab928a0383fa54.etc2.stex" ]
+dest_md5="8fcf2a1031ed729de0ec7489bbbfff50"
+
+[params]
+
+compress/mode=2
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=true
+flags/filter=true
+flags/mipmaps=true
+flags/anisotropic=false
+flags/srgb=1
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=false
+svg/scale=1.0

3d/ik/godot_battle_bot_emission.png.import

@@ -0,0 +1,33 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path.s3tc="res://.import/godot_battle_bot_emission.png-c363ccbe8ada8fe822cd5528b54fc924.s3tc.stex"
+path.etc2="res://.import/godot_battle_bot_emission.png-c363ccbe8ada8fe822cd5528b54fc924.etc2.stex"
+
+[deps]
+
+source_file="res://godot_battle_bot_emission.png"
+source_md5="a9187c4786e7b546dee3dc4fd41f08b2"
+
+dest_files=[ "res://.import/godot_battle_bot_emission.png-c363ccbe8ada8fe822cd5528b54fc924.s3tc.stex", "res://.import/godot_battle_bot_emission.png-c363ccbe8ada8fe822cd5528b54fc924.etc2.stex" ]
+dest_md5="34ef476c1425bc7191891768528bbdce"
+
+[params]
+
+compress/mode=2
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=true
+flags/filter=true
+flags/mipmaps=true
+flags/anisotropic=false
+flags/srgb=1
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=false
+svg/scale=1.0

3d/ik/gun_textures.png.import

@@ -0,0 +1,33 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path.s3tc="res://.import/gun_textures.png-d86dd13f7bab751a3c0100e83b6188ac.s3tc.stex"
+path.etc2="res://.import/gun_textures.png-d86dd13f7bab751a3c0100e83b6188ac.etc2.stex"
+
+[deps]
+
+source_file="res://gun_textures.png"
+source_md5="9e2cc48fd22430732940901b58005fef"
+
+dest_files=[ "res://.import/gun_textures.png-d86dd13f7bab751a3c0100e83b6188ac.s3tc.stex", "res://.import/gun_textures.png-d86dd13f7bab751a3c0100e83b6188ac.etc2.stex" ]
+dest_md5="7a556ab1eb4119f7a6a81568409d7291"
+
+[params]
+
+compress/mode=2
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=true
+flags/filter=true
+flags/mipmaps=true
+flags/anisotropic=false
+flags/srgb=1
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=false
+svg/scale=1.0

3d/ik/icon.png.import

@@ -0,0 +1,32 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+path="res://.import/icon.png-487276ed1e3a0c39cad0279d744ee560.stex"
+
+[deps]
+
+source_file="res://icon.png"
+source_md5="654257205f0755621b814b013fac6039"
+
+dest_files=[ "res://.import/icon.png-487276ed1e3a0c39cad0279d744ee560.stex" ]
+dest_md5="09cf0e9e88dbe274951c3d78af897ef4"
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0

3d/ik/look_at_ik.tscn

@@ -0,0 +1,383 @@
+[gd_scene load_steps=11 format=2]
+
+[ext_resource path="res://addons/sade/editor_gizmo_texture.png" type="Texture" id=1]
+[ext_resource path="res://godot_battle_bot.dae" type="PackedScene" id=2]
+[ext_resource path="res://Target_From_MousePos.gd" type="Script" id=3]
+[ext_resource path="res://addons/sade/ik_look_at.gd" type="Script" id=4]
+[ext_resource path="res://addons/sade/ik_look_at.png" type="Texture" id=5]
+[ext_resource path="res://Button_Change_Scene.gd" type="Script" id=6]
+
+[sub_resource type="PlaneMesh" id=1]
+
+size = Vector2( 40, 40 )
+subdivide_width = 0
+subdivide_depth = 0
+
+[sub_resource type="SpatialMaterial" id=2]
+
+render_priority = 0
+flags_transparent = false
+flags_unshaded = false
+flags_vertex_lighting = false
+flags_no_depth_test = false
+flags_use_point_size = false
+flags_world_triplanar = false
+flags_fixed_size = false
+flags_albedo_tex_force_srgb = false
+vertex_color_use_as_albedo = false
+vertex_color_is_srgb = false
+params_diffuse_mode = 0
+params_specular_mode = 0
+params_blend_mode = 0
+params_cull_mode = 0
+params_depth_draw_mode = 0
+params_line_width = 1.0
+params_point_size = 1.0
+params_billboard_mode = 0
+params_grow = false
+params_use_alpha_scissor = false
+albedo_color = Color( 1, 1, 1, 1 )
+albedo_texture = ExtResource( 1 )
+metallic = 0.0
+metallic_specular = 0.5
+metallic_texture_channel = 0
+roughness = 0.2
+roughness_texture_channel = 0
+emission_enabled = false
+normal_enabled = false
+rim_enabled = false
+clearcoat_enabled = false
+anisotropy_enabled = false
+ao_enabled = false
+depth_enabled = false
+subsurf_scatter_enabled = false
+transmission_enabled = false
+refraction_enabled = false
+detail_enabled = false
+uv1_scale = Vector3( 0.25, 0.25, 0.25 )
+uv1_offset = Vector3( 0, 0, 0 )
+uv1_triplanar = true
+uv1_triplanar_sharpness = 1.0
+uv2_scale = Vector3( 1, 1, 1 )
+uv2_offset = Vector3( 0, 0, 0 )
+uv2_triplanar = false
+uv2_triplanar_sharpness = 1.0
+proximity_fade_enable = false
+distance_fade_enable = false
+_sections_unfolded = [ "UV1" ]
+
+[sub_resource type="ProceduralSky" id=3]
+
+radiance_size = 4
+sky_top_color = Color( 0.0470588, 0.454902, 0.976471, 1 )
+sky_horizon_color = Color( 0.556863, 0.823529, 0.909804, 1 )
+sky_curve = 0.25
+sky_energy = 1.0
+ground_bottom_color = Color( 0.101961, 0.145098, 0.188235, 1 )
+ground_horizon_color = Color( 0.482353, 0.788235, 0.952941, 1 )
+ground_curve = 0.01
+ground_energy = 1.0
+sun_color = Color( 1, 1, 1, 1 )
+sun_latitude = 35.0
+sun_longitude = 0.0
+sun_angle_min = 1.0
+sun_angle_max = 100.0
+sun_curve = 0.05
+sun_energy = 16.0
+texture_size = 2
+
+[sub_resource type="Environment" id=4]
+
+background_mode = 2
+background_sky = SubResource( 3 )
+background_sky_custom_fov = 0.0
+background_color = Color( 0, 0, 0, 1 )
+background_energy = 1.0
+background_canvas_max_layer = 0
+ambient_light_color = Color( 0, 0, 0, 1 )
+ambient_light_energy = 1.0
+ambient_light_sky_contribution = 1.0
+fog_enabled = false
+fog_color = Color( 0.5, 0.6, 0.7, 1 )
+fog_sun_color = Color( 1, 0.9, 0.7, 1 )
+fog_sun_amount = 0.0
+fog_depth_enabled = true
+fog_depth_begin = 10.0
+fog_depth_curve = 1.0
+fog_transmit_enabled = false
+fog_transmit_curve = 1.0
+fog_height_enabled = false
+fog_height_min = 0.0
+fog_height_max = 100.0
+fog_height_curve = 1.0
+tonemap_mode = 3
+tonemap_exposure = 1.0
+tonemap_white = 1.0
+auto_exposure_enabled = false
+auto_exposure_scale = 0.4
+auto_exposure_min_luma = 0.05
+auto_exposure_max_luma = 8.0
+auto_exposure_speed = 0.5
+ss_reflections_enabled = false
+ss_reflections_max_steps = 64
+ss_reflections_fade_in = 0.15
+ss_reflections_fade_out = 2.0
+ss_reflections_depth_tolerance = 0.2
+ss_reflections_roughness = true
+ssao_enabled = false
+ssao_radius = 1.0
+ssao_intensity = 1.0
+ssao_radius2 = 0.0
+ssao_intensity2 = 1.0
+ssao_bias = 0.01
+ssao_light_affect = 0.0
+ssao_color = Color( 0, 0, 0, 1 )
+ssao_quality = 0
+ssao_blur = 3
+ssao_edge_sharpness = 4.0
+dof_blur_far_enabled = false
+dof_blur_far_distance = 10.0
+dof_blur_far_transition = 5.0
+dof_blur_far_amount = 0.1
+dof_blur_far_quality = 1
+dof_blur_near_enabled = false
+dof_blur_near_distance = 2.0
+dof_blur_near_transition = 1.0
+dof_blur_near_amount = 0.1
+dof_blur_near_quality = 1
+glow_enabled = true
+glow_levels/1 = true
+glow_levels/2 = true
+glow_levels/3 = true
+glow_levels/4 = false
+glow_levels/5 = false
+glow_levels/6 = false
+glow_levels/7 = false
+glow_intensity = 0.2
+glow_strength = 1.0
+glow_bloom = 0.03
+glow_blend_mode = 0
+glow_hdr_threshold = 1.0
+glow_hdr_scale = 2.0
+glow_bicubic_upscale = false
+adjustment_enabled = false
+adjustment_brightness = 1.0
+adjustment_contrast = 1.0
+adjustment_saturation = 1.0
+_sections_unfolded = [ "Glow", "Glow/levels" ]
+
+[node name="LookAt_IK" type="Spatial"]
+
+[node name="Floor_plane" type="MeshInstance" parent="." index="0"]
+
+layers = 1
+material_override = null
+cast_shadow = 1
+extra_cull_margin = 0.0
+use_in_baked_light = false
+lod_min_distance = 0.0
+lod_min_hysteresis = 0.0
+lod_max_distance = 0.0
+lod_max_hysteresis = 0.0
+mesh = SubResource( 1 )
+skeleton = NodePath("..")
+material/0 = SubResource( 2 )
+_sections_unfolded = [ "material" ]
+
+[node name="DirectionalLight" type="DirectionalLight" parent="." index="1"]
+
+transform = Transform( 0.56827, 0.673454, -0.472789, 0, 0.574581, 0.818448, 0.822842, -0.465099, 0.326517, -9.77531, 11.5204, 11.766 )
+layers = 1
+light_color = Color( 1, 1, 1, 1 )
+light_energy = 1.0
+light_indirect_energy = 1.0
+light_negative = false
+light_specular = 0.5
+light_bake_mode = 1
+light_cull_mask = -1
+shadow_enabled = false
+shadow_color = Color( 0, 0, 0, 1 )
+shadow_bias = 0.1
+shadow_contact = 0.0
+shadow_reverse_cull_face = false
+editor_only = false
+directional_shadow_mode = 2
+directional_shadow_split_1 = 0.1
+directional_shadow_split_2 = 0.2
+directional_shadow_split_3 = 0.5
+directional_shadow_blend_splits = false
+directional_shadow_normal_bias = 0.8
+directional_shadow_bias_split_scale = 0.25
+directional_shadow_depth_range = 0
+directional_shadow_max_distance = 200.0
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="." index="2"]
+
+environment = SubResource( 4 )
+
+[node name="BattleBot" parent="." index="3" instance=ExtResource( 2 )]
+
+editor/display_folded = true
+
+[node name="Camera" type="Camera" parent="." index="4"]
+
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5014, 8.81922 )
+keep_aspect = 1
+cull_mask = 1048575
+environment = null
+h_offset = 0.0
+v_offset = 0.0
+doppler_tracking = 0
+projection = 0
+current = false
+fov = 70.0
+size = 1.0
+near = 0.05
+far = 100.0
+script = ExtResource( 3 )
+MOVEMENT_SPEED = -2.0
+flip_axis = true
+
+[node name="targets" type="Spatial" parent="Camera" index="0"]
+
+[node name="IK_LookAt_Head" type="Spatial" parent="Camera/targets" index="0"]
+
+script = ExtResource( 4 )
+_sections_unfolded = [ "Transform" ]
+__meta__ = {
+"_editor_icon": ExtResource( 5 )
+}
+skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
+bone_name = "Head"
+update_mode = 0
+look_at_axis = 1
+use_our_rot_x = false
+use_our_rot_y = false
+use_our_rot_z = false
+use_negative_our_rot = false
+additional_rotation = Vector3( 90, 0, 0 )
+debug_messages = false
+
+[node name="IK_LookAt_LeftArm" type="Spatial" parent="Camera/targets" index="1"]
+
+script = ExtResource( 4 )
+_sections_unfolded = [ "Transform" ]
+__meta__ = {
+"_editor_icon": ExtResource( 5 )
+}
+skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
+bone_name = "Left_UpperArm"
+update_mode = 0
+look_at_axis = 1
+use_our_rot_x = false
+use_our_rot_y = false
+use_our_rot_z = false
+use_negative_our_rot = false
+additional_rotation = Vector3( 0, 0, 0 )
+debug_messages = false
+
+[node name="IK_LookAt_RightArm" type="Spatial" parent="Camera/targets" index="2"]
+
+script = ExtResource( 4 )
+_sections_unfolded = [ "Transform" ]
+__meta__ = {
+"_editor_icon": ExtResource( 5 )
+}
+skeleton_path = NodePath("../../../BattleBot/Armature/Skeleton")
+bone_name = "Right_UpperArm"
+update_mode = 0
+look_at_axis = 1
+use_our_rot_x = false
+use_our_rot_y = false
+use_our_rot_z = false
+use_negative_our_rot = false
+additional_rotation = Vector3( 0, 0, 180 )
+debug_messages = false
+
+[node name="Control" type="Control" parent="." index="5"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_right = 40.0
+margin_bottom = 40.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+
+[node name="Panel" type="Panel" parent="Control" index="0"]
+
+modulate = Color( 1, 1, 1, 0.784314 )
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = -2.0
+margin_top = 530.0
+margin_right = 1028.0
+margin_bottom = 600.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+_sections_unfolded = [ "Visibility" ]
+
+[node name="Label" type="Label" parent="Control/Panel" index="0"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 12.0
+margin_top = 10.0
+margin_right = 1012.0
+margin_bottom = 41.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+mouse_filter = 2
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 4
+text = "LookAt IK
+Move mouse to move IK targets"
+align = 1
+valign = 1
+percent_visible = 1.0
+lines_skipped = 0
+max_lines_visible = -1
+
+[node name="Button_Next" type="Button" parent="Control" index="1"]
+
+anchor_left = 0.0
+anchor_top = 0.0
+anchor_right = 0.0
+anchor_bottom = 0.0
+margin_left = 900.0
+margin_top = 540.0
+margin_right = 1019.0
+margin_bottom = 590.0
+rect_pivot_offset = Vector2( 0, 0 )
+rect_clip_content = false
+focus_mode = 2
+mouse_filter = 0
+mouse_default_cursor_shape = 0
+size_flags_horizontal = 1
+size_flags_vertical = 1
+toggle_mode = false
+enabled_focus_mode = 2
+shortcut = null
+group = null
+text = "Next scene"
+flat = false
+align = 1
+script = ExtResource( 6 )
+scene_to_change_to = "res://fabrik_ik.tscn"
+
+
+[editable path="BattleBot"]

3d/ik/project.godot

@@ -0,0 +1,28 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=3
+
+[application]
+
+config/name="3D IK"
+run/main_scene="res://look_at_ik.tscn"
+config/icon="res://icon.png"
+
+[display]
+
+window/stretch/mode="2d"
+window/stretch/aspect="keep"
+
+[editor_plugins]
+
+enabled=PoolStringArray( "sade" )
+
+[rendering]
+
+environment/default_environment="res://default_env.tres"

3d/ik/simple_bullet.gd

@@ -0,0 +1,13 @@
+extends RigidBody
+
+const KILL_TIME = 5
+var timer = 0
+
+func _ready():
+	set_physics_process(true);
+
+func _physics_process(delta):
+	timer += delta
+	if timer > KILL_TIME:
+		queue_free()
+		timer = 0 # Make sure we are destroyed before we call this again!

3d/ik/simple_bullet.tscn

@@ -0,0 +1,123 @@
+[gd_scene load_steps=5 format=2]
+
+[ext_resource path="res://simple_bullet.gd" type="Script" id=1]
+
+[sub_resource type="SphereMesh" id=1]
+
+radius = 1.0
+height = 2.0
+radial_segments = 64
+rings = 32
+is_hemisphere = false
+
+[sub_resource type="SpatialMaterial" id=2]
+
+render_priority = 0
+flags_transparent = false
+flags_unshaded = false
+flags_vertex_lighting = false
+flags_no_depth_test = false
+flags_use_point_size = false
+flags_world_triplanar = false
+flags_fixed_size = false
+flags_albedo_tex_force_srgb = false
+vertex_color_use_as_albedo = false
+vertex_color_is_srgb = false
+params_diffuse_mode = 0
+params_specular_mode = 0
+params_blend_mode = 0
+params_cull_mode = 0
+params_depth_draw_mode = 0
+params_line_width = 1.0
+params_point_size = 1.0
+params_billboard_mode = 0
+params_grow = false
+params_use_alpha_scissor = false
+albedo_color = Color( 0.769531, 0.486969, 0, 1 )
+metallic = 0.0
+metallic_specular = 0.5
+metallic_texture_channel = 0
+roughness = 1.0
+roughness_texture_channel = 0
+emission_enabled = true
+emission = Color( 1, 0.445313, 0, 1 )
+emission_energy = 1.8
+emission_operator = 0
+emission_on_uv2 = false
+normal_enabled = false
+rim_enabled = false
+clearcoat_enabled = false
+anisotropy_enabled = false
+ao_enabled = false
+depth_enabled = false
+subsurf_scatter_enabled = false
+transmission_enabled = false
+refraction_enabled = false
+detail_enabled = false
+uv1_scale = Vector3( 1, 1, 1 )
+uv1_offset = Vector3( 0, 0, 0 )
+uv1_triplanar = false
+uv1_triplanar_sharpness = 1.0
+uv2_scale = Vector3( 1, 1, 1 )
+uv2_offset = Vector3( 0, 0, 0 )
+uv2_triplanar = false
+uv2_triplanar_sharpness = 1.0
+proximity_fade_enable = false
+distance_fade_enable = false
+
+[sub_resource type="SphereShape" id=3]
+
+radius = 0.4
+
+[node name="SimpleBullet" type="RigidBody"]
+
+input_ray_pickable = true
+input_capture_on_drag = false
+collision_layer = 1
+collision_mask = 1
+mode = 0
+mass = 2.0
+friction = 1.0
+bounce = 0.5
+gravity_scale = 3.0
+custom_integrator = false
+continuous_cd = true
+contacts_reported = 0
+contact_monitor = false
+sleeping = false
+can_sleep = false
+axis_lock_linear_x = false
+axis_lock_linear_y = false
+axis_lock_linear_z = false
+axis_lock_angular_x = false
+axis_lock_angular_y = false
+axis_lock_angular_z = false
+linear_velocity = Vector3( 0, 0, 0 )
+linear_damp = 0.4
+angular_velocity = Vector3( 0, 0, 0 )
+angular_damp = -1.0
+script = ExtResource( 1 )
+
+[node name="MeshInstance" type="MeshInstance" parent="." index="0"]
+
+transform = Transform( 0.4, 0, 0, 0, 0.4, 0, 0, 0, 0.4, 0, 0, 0 )
+layers = 1
+material_override = null
+cast_shadow = 0
+extra_cull_margin = 0.0
+use_in_baked_light = false
+lod_min_distance = 0.0
+lod_min_hysteresis = 0.0
+lod_max_distance = 0.0
+lod_max_hysteresis = 0.0
+mesh = SubResource( 1 )
+skeleton = NodePath("..")
+material/0 = SubResource( 2 )
+_sections_unfolded = [ "Geometry", "Transform", "material" ]
+
+[node name="CollisionShape" type="CollisionShape" parent="." index="1"]
+
+shape = SubResource( 3 )
+disabled = false
+
+

3d/ik/target_from_mousepos.gd

@@ -0,0 +1,20 @@
+extends Camera
+
+var targets = null
+
+export (float) var MOVEMENT_SPEED = 10
+export (bool) var flip_axis = false
+
+
+func _ready():
+	targets = get_node("targets")
+
+func _process(delta):
+	var mouse_to_world = project_local_ray_normal(get_viewport().get_mouse_position()) * MOVEMENT_SPEED
+	
+	if flip_axis == false:
+		mouse_to_world.z *= -1
+	else:
+		mouse_to_world = -mouse_to_world
+	
+	targets.transform.origin = mouse_to_world