Merge pull request #22 from V-Sekai/motion-maching

Add motion matching.

godot/.gitrepo

@@ -6,7 +6,7 @@
 [subrepo]
 	remote = https://github.com/V-Sekai/godot.git
 	branch = groups-4.4
-	commit = b39f5c504d42c4f2342b6e543ce726be7086831f
-	parent = ec3a7471acf2e85dbc612384c337bec43c14e16f
+	commit = 594de0a65a2d1e595c96c16ad74dc9fb487eea2e
+	parent = 39aa131db43c8f1f934d29e80a68750f46b67b3b
 	method = merge
 	cmdver = 0.4.6

godot/modules/many_bone_ik/.gitrepo

@@ -6,7 +6,7 @@
 [subrepo]
 	remote = https://github.com/V-Sekai/many_bone_ik.git
 	branch = main
-	commit = 55050bf851e3bbb90aaf857528616090f593f21b
-	parent = 7a47e1cbc07174a2a1986a5a2e42071e852fafe1
+	commit = ad2e65ba6c63924d61171ef2b25c46cb5a9f9edb
+	parent = ccfdadee38e32204dd2f5ac00fba4995ff461c7e
 	method = merge
 	cmdver = 0.4.6

godot/modules/many_bone_ik/doc_classes/ManyBoneIK3D.xml

@@ -140,6 +140,12 @@
 				Registers the skeleton to the IK system. This should be called after all bones and constraints have been added to the system.
 			</description>
 		</method>
+		<method name="remove_constraint_at_index">
+			<return type="void" />
+			<param index="0" name="index" type="int" />
+			<description>
+			</description>
+		</method>
 		<method name="reset_constraints">
 			<return type="void" />
 			<description>

godot/modules/many_bone_ik/src/many_bone_ik_3d.cpp

@@ -380,6 +380,7 @@ void ManyBoneIK3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_orientation_transform_of_constraint", "index", "transform"), &ManyBoneIK3D::set_orientation_transform_of_constraint);
 	ClassDB::bind_method(D_METHOD("get_direction_transform_of_bone", "index"), &ManyBoneIK3D::get_direction_transform_of_bone);
 	ClassDB::bind_method(D_METHOD("set_direction_transform_of_bone", "index", "transform"), &ManyBoneIK3D::set_direction_transform_of_bone);
+	ClassDB::bind_method(D_METHOD("remove_constraint_at_index", "index"), &ManyBoneIK3D::remove_pin_at_index);
 	ClassDB::bind_method(D_METHOD("register_skeleton"), &ManyBoneIK3D::register_skeleton);
 	ClassDB::bind_method(D_METHOD("reset_constraints"), &ManyBoneIK3D::reset_constraints);
 	ClassDB::bind_method(D_METHOD("set_dirty"), &ManyBoneIK3D::set_dirty);
@@ -736,6 +737,19 @@ int32_t ManyBoneIK3D::find_constraint(String p_string) const {
 	return -1;
 }
 
+void ManyBoneIK3D::remove_pin_at_index(int32_t p_index) {
+	ERR_FAIL_INDEX(p_index, constraint_count);
+
+	constraint_names.remove_at(p_index);
+	kusudama_open_cone_count.remove_at(p_index);
+	kusudama_open_cones.remove_at(p_index);
+	joint_twist.remove_at(p_index);
+
+	constraint_count--;
+
+	set_dirty();
+}
+
 void ManyBoneIK3D::_set_bone_count(int32_t p_count) {
 	bone_damp.resize(p_count);
 	for (int32_t bone_i = p_count; bone_i-- > bone_count;) {

godot/modules/many_bone_ik/src/many_bone_ik_3d.h

@@ -113,6 +113,7 @@ class ManyBoneIK3D : public SkeletonModifier3D {
 	void queue_print_skeleton();
 	int32_t get_pin_count() const;
 	void set_pin_count(int32_t p_pin_count);
+	void remove_pin_at_index(int32_t p_index);
 	void set_pin_bone_name(int32_t p_pin_index, const String &p_bone);
 	StringName get_pin_bone_name(int32_t p_effector_index) const;
 	void set_pin_node_path(int32_t p_effector_index, NodePath p_node_path);

godot/modules/motion_matching/.clang-format

@@ -0,0 +1,25 @@
+
+Language: Cpp
+BasedOnStyle: LLVM
+IndentWidth: 4
+UseTab: Never
+ColumnLimit: 0
+AccessModifierOffset: -4
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+PointerAlignment: Left
+SortIncludes: true

godot/modules/motion_matching/.gitignore

@@ -0,0 +1,32 @@
+.sconsign.dblite
+
+bin
+
+*.os
+
+*.obj
+
+*.dll
+*.exp
+*.lib
+*.ilk
+*.pdb
+*.so
+*.universal
+*.dylib
+*.wasm
+*.plist
+*.enabled
+*.tmp
+*.TMP
+
+.vscode
+.cache
+
+compile_commands.json
+
+# Ignored demos
+demo_*/
+
+# Python
+__pycache__

godot/modules/motion_matching/.gitrepo

@@ -0,0 +1,12 @@
+; DO NOT EDIT (unless you know what you are doing)
+;
+; This subdirectory is a git "subrepo", and this file is maintained by the
+; git-subrepo command. See https://github.com/ingydotnet/git-subrepo#readme
+;
+[subrepo]
+	remote = https://github.com/GuilhermeGSousa/godot-motion-matching.git
+	branch = engine-module
+	commit = 3fbb34f56e99da4a7aca16142e40fd75f66c4e46
+	parent = 24cb8e640b8ec0c18ba00bc9716156e6f4576691
+	method = merge
+	cmdver = 0.4.6

godot/modules/motion_matching/README.md

@@ -0,0 +1,40 @@
+# Motion Matching for Godot 4.3
+
+![](https://github.com/GuilhermeGSousa/godot-motion-matching/blob/master/motion_matching_demo.gif)
+
+A motion matching implementation in Godot 4.3, implemented following [Dan Holden's article](https://www.theorangeduck.com/page/code-vs-data-driven-displacement).
+
+:warning: **This repo is a work in progress!** :warning:
+
+### Demo
+The demo has now moved to a separate repository. You can find it [here!](https://github.com/GuilhermeGSousa/godot-motion-matching-demo).
+
+### Wiki
+[You can find this repo's wiki here!](https://github.com/GuilhermeGSousa/godot-motion-matching/wiki)
+
+### Features
+You'll find on this repo:
+- A plugin that allow you to run motion matching queries on an animation dataset!
+- A `CharacterBody3D` implementing a simple movement logic.
+- Trajectory generation, including collisions and environmental checks.
+- An editor to bake and visualize motion matching features.
+- Blending nodes to qllow you to smoothly transition when switching animations.
+
+### Credits
+I want to thank all the contributors that made this project possible!
+
+[Fire](https://github.com/fire)
+
+[GeorgeS](https://github.com/GeorgeS2019)
+
+[Remi](https://github.com/Remi123)
+
+[Roberts Kalnins](https://github.com/rkalnins)
+
+### Sources
+
+- [Road to Next Gen Animation - GDC Talk](https://www.gdcvault.com/play/1023280/Motion-Matching-and-The-Road)
+- [Simon Clavet's implementation video](https://www.youtube.com/watch?v=jcpIrw38E-s&ab_channel=SimonClavet)
+- [Orange Duck's Blog](https://theorangeduck.com/)
+- [Remi's Motion Matching implementation](https://github.com/Remi123/MotionMatching)
+- Demo data taken from [O3DE Motion Matching Implementation](https://github.com/o3de/o3de/tree/development/Gems/MotionMatching)

godot/modules/motion_matching/SCsub

@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+from glob import glob
+from pathlib import Path
+
+Import('env')
+
+env.Append(CPPPATH=["src/"])
+sources = Glob("*.cpp")
+sources += Glob("src/*.cpp")
+sources += Glob("src/features/*.cpp")
+sources += Glob("src/math/*.cpp")
+sources += Glob("src/modifiers/*.cpp")
+sources += Glob("src/synchronizers/*.cpp")
+
+module_env = env.Clone()
+module_env.add_source_files(env.modules_sources, sources)
+
+if env.editor_build:
+    module_env.add_source_files(env.modules_sources, "editor/*.cpp")

godot/modules/motion_matching/config.py

@@ -0,0 +1,26 @@
+def can_build(env, platform):
+    return True
+
+
+def configure(env):
+    pass
+
+
+def get_doc_classes():
+    return [
+        "DampedSkeletonModifier",
+        "MMAnimationLibrary",
+        "MMBoneDataFeature",
+        "MMCharacter",
+        "MMClampSynchronizer",
+        "MMFeature",
+        "MMRootMotionSynchronizer",
+        "MMSynchronizer",
+        "MMTrajectoryFeature",
+        "MMAnimationNode",
+        "MMQueryInput",
+    ]
+
+
+def get_doc_path():
+    return "doc_classes"

godot/modules/motion_matching/doc_classes/DampedSkeletonModifier.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="DampedSkeletonModifier" inherits="SkeletonModifier3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="halflife" type="float" setter="set_halflife" getter="get_halflife" default="0.1">
+		</member>
+	</members>
+</class>

godot/modules/motion_matching/doc_classes/MMAnimationLibrary.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="MMAnimationLibrary" inherits="AnimationLibrary" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="db_anim_index" type="PackedInt32Array" setter="set_db_anim_index" getter="get_db_anim_index" default="PackedInt32Array()">
+		</member>
+		<member name="db_time_index" type="PackedFloat32Array" setter="set_db_time_index" getter="get_db_time_index" default="PackedFloat32Array()">
+		</member>
+		<member name="features" type="MMFeature[]" setter="set_features" getter="get_features" default="[]">
+		</member>
+		<member name="motion_data" type="PackedFloat32Array" setter="set_motion_data" getter="get_motion_data" default="PackedFloat32Array()">
+		</member>
+		<member name="sampling_rate" type="float" setter="set_sampling_rate" getter="get_sampling_rate" default="1.0">
+		</member>
+	</members>
+</class>

godot/modules/motion_matching/doc_classes/MMAnimationNode.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="MMAnimationNode" inherits="AnimationRootNode" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="library" type="StringName" setter="set_library" getter="get_library" default="&amp;&quot;&quot;">
+		</member>
+		<member name="query_frequency" type="float" setter="set_query_frequency" getter="get_query_frequency" default="2.0">
+		</member>
+	</members>
+</class>

godot/modules/motion_matching/doc_classes/MMBoneDataFeature.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="MMBoneDataFeature" inherits="MMFeature" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="bone_names" type="PackedStringArray" setter="set_bone_names" getter="get_bone_names" default="PackedStringArray()">
+		</member>
+	</members>
+</class>

godot/modules/motion_matching/doc_classes/MMCharacter.xml

@@ -0,0 +1,75 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="MMCharacter" inherits="CharacterBody3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
+	<brief_description>
+		A [CharacterBody3D] that provides the necessary functionality to use motion matching.
+	</brief_description>
+	<description>
+		[MMCharacter] that characters that use [Skeleton3D] to be animated through motion matching. Motion matching works by searching for the best animation in a database of animations that matches the current state of the character. This node is responsible for compiling the character's state, and send it to an [AnimationTree] to run motion matching searches.
+	</description>
+	<tutorials>
+	</tutorials>
+	<methods>
+		<method name="get_skeleton_state" qualifiers="const">
+			<return type="Dictionary[]" />
+			<description>
+				Returns an array of dictionaries each containing the [code]position[/code] and [code]velocity[/code] of each bone. Position and velocity are both [Vector3]s, and are relative to the skeleton's root bone.
+			</description>
+		</method>
+		<method name="get_trajectory" qualifiers="const">
+			<return type="Dictionary[]" />
+			<description>
+				Returns an array of dictionaries describing the character's trajectory. Each dictionary contains the [code]position[/code], [code]velocity[/code], [code]facing[/code] and [code]on_floor[/code] at given future point in time.
+			</description>
+		</method>
+		<method name="get_trajectory_history" qualifiers="const">
+			<return type="Dictionary[]" />
+			<description>
+				Returns an array of dictionaries describing the character's past trajectory. Each dictionary contains the [code]position[/code], [code]velocity[/code], [code]facing[/code] and [code]on_floor[/code] at given past point.
+			</description>
+		</method>
+	</methods>
+	<members>
+		<member name="animation_tree" type="AnimationTree" setter="set_animation_tree" getter="get_animation_tree">
+		</member>
+		<member name="check_environment" type="bool" setter="set_check_environment" getter="get_check_environment" default="true">
+			Used to enable or disable environmental checks along the character's trajectory. When enabled, trajectory generation will also consider collisions and gravity.
+		</member>
+		<member name="halflife" type="float" setter="set_halflife" getter="get_halflife" default="0.5">
+			Describes the time it takes for the character's current velocity to reach its target velocity. Higher values will make the character's movement (and trajectory) smoother, but also less responsive.
+		</member>
+		<member name="history_delta_time" type="float" setter="set_history_delta_time" getter="get_history_delta_time" default="0.5">
+			Time between each point in the trajectory history.
+		</member>
+		<member name="history_point_count" type="int" setter="set_history_point_count" getter="get_history_point_count" default="3">
+			Number of past points to store in the trajectory history.
+		</member>
+		<member name="is_strafing" type="bool" setter="set_is_strafing" getter="get_is_strafing" default="false">
+			When enabled, the character's facing direction on every trajectory point will be set to [member strafe_facing]. This may be useful to implement strafing movement.
+			            When disabled, the character's facing direction will be calculated based on its velocity.
+		</member>
+		<member name="skeleton" type="Skeleton3D" setter="set_skeleton" getter="get_skeleton">
+		</member>
+		<member name="strafe_facing" type="float" setter="set_strafe_facing" getter="get_strafe_facing" default="0.0">
+			When [member is_strafing] is enabled, this value will be used as the facing direction on every trajectory point. When implementing strafing movement, this value is typically set to to the camera's facing direction.
+		</member>
+		<member name="synchronizer" type="MMSynchronizer" setter="set_synchronizer" getter="get_synchronizer">
+			The [MMSynchronizer] that will be used to synchronize the character to with its skeleton.
+		</member>
+		<member name="target_velocity" type="Vector3" setter="set_target_velocity" getter="get_target_velocity" default="Vector3(0, 0, 0)">
+			The character's target velocity. The character's velocity will be interpolated towards this value over time, controlled by [member halflife].
+		</member>
+		<member name="trajectory_delta_time" type="float" setter="set_trajectory_delta_time" getter="get_trajectory_delta_time" default="0.5">
+			Time between each point in the trajectory.
+		</member>
+		<member name="trajectory_point_count" type="int" setter="set_trajectory_point_count" getter="get_trajectory_point_count" default="10">
+			Number of future points to generate in the trajectory.
+		</member>
+	</members>
+	<signals>
+		<signal name="on_query_result">
+			<param index="0" name="data" type="Dictionary" />
+			<description>
+			</description>
+		</signal>
+	</signals>
+</class>

godot/modules/motion_matching/doc_classes/MMClampSynchronizer.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="MMClampSynchronizer" inherits="MMSynchronizer" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
+	<brief_description>
+	</brief_description>
+	<description>
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="clamp_distance" type="float" setter="set_clamp_distance" getter="get_clamp_distance" default="10.0">
+		</member>
+	</members>
+</class>