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Improve global bone pose calculation in Skeleton3D #97538

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Oct 14, 2024
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Merged

Improve global bone pose calculation in Skeleton3D #97538

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141 changes: 127 additions & 14 deletions scene/3d/skeleton_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,6 +276,8 @@ void Skeleton3D::_update_process_order() {

concatenated_bone_names = StringName();

_update_bones_nested_set();

process_order_dirty = false;

emit_signal("bone_list_changed");
Expand Down Expand Up @@ -334,13 +336,18 @@ void Skeleton3D::_notification(int p_what) {
Bone *bonesptr = bones.ptr();
int len = bones.size();

thread_local LocalVector<bool> bone_global_pose_dirty_backup;

// Process modifiers.
_find_modifiers();
if (!modifiers.is_empty()) {
// Store unmodified bone poses.
for (uint32_t i = 0; i < bones.size(); i++) {
bones_backup[i].save(bones[i]);
}
// Store dirty flags for global bone poses.
bone_global_pose_dirty_backup = bone_global_pose_dirty;

_process_modifiers();
}

Expand Down Expand Up @@ -415,6 +422,8 @@ void Skeleton3D::_notification(int p_what) {
for (uint32_t i = 0; i < bones.size(); i++) {
bones_backup[i].restore(bones[i]);
}
// Restore dirty flags for global bone poses.
bone_global_pose_dirty = bone_global_pose_dirty_backup;
}

updating = false;
Expand Down Expand Up @@ -457,10 +466,111 @@ void Skeleton3D::_make_modifiers_dirty() {
_update_deferred(UPDATE_FLAG_MODIFIER);
}

void Skeleton3D::_update_bones_nested_set() {
nested_set_offset_to_bone_index.resize(bones.size());
bone_global_pose_dirty.resize(bones.size());
_make_bone_global_poses_dirty();

int offset = 0;
for (int bone : parentless_bones) {
offset += _update_bone_nested_set(bone, offset);
}
}

int Skeleton3D::_update_bone_nested_set(int p_bone, int p_offset) {
Bone &bone = bones[p_bone];
int offset = p_offset + 1;
int span = 1;

for (int child_bone : bone.child_bones) {
int subspan = _update_bone_nested_set(child_bone, offset);
offset += subspan;
span += subspan;
}

nested_set_offset_to_bone_index[p_offset] = p_bone;
bone.nested_set_offset = p_offset;
bone.nested_set_span = span;

return span;
}

void Skeleton3D::_make_bone_global_poses_dirty() {
for (uint32_t i = 0; i < bone_global_pose_dirty.size(); i++) {
bone_global_pose_dirty[i] = true;
}
}

void Skeleton3D::_make_bone_global_pose_subtree_dirty(int p_bone) {
if (process_order_dirty) {
return;
}

const Bone &bone = bones[p_bone];
int span_offset = bone.nested_set_offset;
// No need to make subtree dirty when bone is already dirty.
if (bone_global_pose_dirty[span_offset]) {
return;
}

// Make global poses of subtree dirty.
int span_end = span_offset + bone.nested_set_span;
for (int i = span_offset; i < span_end; i++) {
bone_global_pose_dirty[i] = true;
}
}

void Skeleton3D::_update_bone_global_pose(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);

_update_process_order();

// Global pose is already calculated.
int nested_set_offset = bones[p_bone].nested_set_offset;
if (!bone_global_pose_dirty[nested_set_offset]) {
return;
}

thread_local LocalVector<int> bone_list;
bone_list.clear();
Transform3D global_pose;

// Create list of parent bones for which the global pose needs to be recalculated.
for (int bone = p_bone; bone >= 0; bone = bones[bone].parent) {
int offset = bones[bone].nested_set_offset;
// Stop searching when global pose is not dirty.
if (!bone_global_pose_dirty[offset]) {
global_pose = bones[bone].global_pose;
break;
}

bone_list.push_back(bone);
}

// Calculate global poses for all parent bones and the current bone.
for (int i = bone_list.size() - 1; i >= 0; i--) {
int bone_idx = bone_list[i];
Bone &bone = bones[bone_idx];
bool bone_enabled = bone.enabled && !show_rest_only;
Transform3D bone_pose = bone_enabled ? get_bone_pose(bone_idx) : get_bone_rest(bone_idx);

global_pose *= bone_pose;
#ifndef DISABLE_DEPRECATED
if (bone.global_pose_override_amount >= CMP_EPSILON) {
global_pose = global_pose.interpolate_with(bone.global_pose_override, bone.global_pose_override_amount);
}
#endif // _DISABLE_DEPRECATED

bone.global_pose = global_pose;
bone_global_pose_dirty[bone.nested_set_offset] = false;
}
}

Transform3D Skeleton3D::get_bone_global_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
const_cast<Skeleton3D *>(this)->force_update_all_dirty_bones();
const_cast<Skeleton3D *>(this)->_update_bone_global_pose(p_bone);
return bones[p_bone].global_pose;
}

Expand Down Expand Up @@ -672,6 +782,7 @@ void Skeleton3D::set_bone_rest(int p_bone, const Transform3D &p_rest) {
bones[p_bone].rest = p_rest;
rest_dirty = true;
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}
Transform3D Skeleton3D::get_bone_rest(int p_bone) const {
const int bone_size = bones.size();
Expand All @@ -695,6 +806,7 @@ void Skeleton3D::set_bone_enabled(int p_bone, bool p_enabled) {
bones[p_bone].enabled = p_enabled;
emit_signal(SceneStringName(bone_enabled_changed), p_bone);
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}

bool Skeleton3D::is_bone_enabled(int p_bone) const {
Expand All @@ -707,6 +819,7 @@ void Skeleton3D::set_show_rest_only(bool p_enabled) {
show_rest_only = p_enabled;
emit_signal(SceneStringName(show_rest_only_changed));
_make_dirty();
_make_bone_global_poses_dirty();
}

bool Skeleton3D::is_show_rest_only() const {
Expand All @@ -733,6 +846,7 @@ void Skeleton3D::set_bone_pose(int p_bone, const Transform3D &p_pose) {
bones[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}
}

Expand All @@ -744,6 +858,7 @@ void Skeleton3D::set_bone_pose_position(int p_bone, const Vector3 &p_position) {
bones[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}
}
void Skeleton3D::set_bone_pose_rotation(int p_bone, const Quaternion &p_rotation) {
Expand All @@ -754,6 +869,7 @@ void Skeleton3D::set_bone_pose_rotation(int p_bone, const Quaternion &p_rotation
bones[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}
}
void Skeleton3D::set_bone_pose_scale(int p_bone, const Vector3 &p_scale) {
Expand All @@ -764,6 +880,7 @@ void Skeleton3D::set_bone_pose_scale(int p_bone, const Vector3 &p_scale) {
bones[p_bone].pose_cache_dirty = true;
if (is_inside_tree()) {
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}
}

Expand Down Expand Up @@ -938,14 +1055,14 @@ void Skeleton3D::force_update_bone_children_transforms(int p_bone_idx) {
ERR_FAIL_INDEX(p_bone_idx, bone_size);

Bone *bonesptr = bones.ptr();
thread_local LocalVector<int> bones_to_process;
bones_to_process.clear();
bones_to_process.push_back(p_bone_idx);

uint32_t index = 0;
while (index < bones_to_process.size()) {
int current_bone_idx = bones_to_process[index];
// Loop through nested set.
for (int offset = 0; offset < bone_size; offset++) {
if (!bone_global_pose_dirty[offset]) {
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continue;
}

int current_bone_idx = nested_set_offset_to_bone_index[offset];
Bone &b = bonesptr[current_bone_idx];
bool bone_enabled = b.enabled && !show_rest_only;

Expand Down Expand Up @@ -992,13 +1109,7 @@ void Skeleton3D::force_update_bone_children_transforms(int p_bone_idx) {
}
#endif // _DISABLE_DEPRECATED

// Add the bone's children to the list of bones to be processed.
int child_bone_size = b.child_bones.size();
for (int i = 0; i < child_bone_size; i++) {
bones_to_process.push_back(b.child_bones[i]);
}

index++;
bone_global_pose_dirty[offset] = false;
}
}

Expand Down Expand Up @@ -1176,6 +1287,7 @@ void Skeleton3D::clear_bones_global_pose_override() {
bones[i].global_pose_override_reset = true;
}
_make_dirty();
_make_bone_global_poses_dirty();
}

void Skeleton3D::set_bone_global_pose_override(int p_bone, const Transform3D &p_pose, real_t p_amount, bool p_persistent) {
Expand All @@ -1185,6 +1297,7 @@ void Skeleton3D::set_bone_global_pose_override(int p_bone, const Transform3D &p_
bones[p_bone].global_pose_override = p_pose;
bones[p_bone].global_pose_override_reset = !p_persistent;
_make_dirty();
_make_bone_global_pose_subtree_dirty(p_bone);
}

Transform3D Skeleton3D::get_bone_global_pose_override(int p_bone) const {
Expand Down
11 changes: 11 additions & 0 deletions scene/3d/skeleton_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,8 @@ class Skeleton3D : public Node3D {
Quaternion pose_rotation;
Vector3 pose_scale = Vector3(1, 1, 1);
Transform3D global_pose;
int nested_set_offset = 0; // Offset in nested set of bone hierarchy.
int nested_set_span = 0; // Subtree span in nested set of bone hierarchy.

void update_pose_cache() {
if (pose_cache_dirty) {
Expand Down Expand Up @@ -183,6 +185,15 @@ class Skeleton3D : public Node3D {
void _make_modifiers_dirty();
LocalVector<BonePoseBackup> bones_backup;

// Global bone pose calculation.
LocalVector<int> nested_set_offset_to_bone_index; // Map from Bone::nested_set_offset to bone index.
LocalVector<bool> bone_global_pose_dirty; // Indexable with Bone::nested_set_offset.
void _update_bones_nested_set();
int _update_bone_nested_set(int p_bone, int p_offset);
void _make_bone_global_poses_dirty();
void _make_bone_global_pose_subtree_dirty(int p_bone);
void _update_bone_global_pose(int p_bone);

#ifndef DISABLE_DEPRECATED
void _add_bone_bind_compat_88791(const String &p_name);

Expand Down
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