godot-demo-projects/3d/ik/fabrik_ik.tscn

[gd_scene load_steps=12 format=3 uid="uid://lm753aby2tb6"]

[ext_resource type="Texture2D" uid="uid://bw3q8aq6gfuof" path="res://addons/sade/editor_gizmo_texture.png" id="1"]
[ext_resource type="PackedScene" uid="uid://ctssefekxjogg" path="res://model/godot_battle_bot.dae" id="2"]
[ext_resource type="Material" path="res://model/battle_bot_color.tres" id="3"]
[ext_resource type="Script" path="res://target_from_mousepos.gd" id="5"]
[ext_resource type="Script" path="res://addons/sade/ik_look_at.gd" id="6"]
[ext_resource type="Script" path="res://addons/sade/ik_fabrik.gd" id="8"]
[ext_resource type="Script" path="res://button_change_scene.gd" id="10"]

[sub_resource type="PlaneMesh" id="1"]
size = Vector2(40, 40)

[sub_resource type="StandardMaterial3D" id="2"]
albedo_texture = ExtResource("1")
roughness = 0.2
uv1_scale = Vector3(0.25, 0.25, 0.25)
uv1_triplanar = true

[sub_resource type="BoxMesh" id="3"]

[sub_resource type="StandardMaterial3D" id="4"]
albedo_color = Color(0, 0.191406, 0.765625, 1)
roughness = 0.0

[node name="FABRIK_IK" type="Node3D"]

[node name="Floor" type="MeshInstance3D" parent="."]
mesh = SubResource("1")
surface_material_override/0 = SubResource("2")

[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
transform = Transform3D(0.56827, 0.673454, -0.472789, 0, 0.574581, 0.818448, 0.822842, -0.465099, 0.326517, -9.77531, 11.5204, 11.766)

[node name="GodotBattleBot" parent="." instance=ExtResource("2")]

[node name="godot_battle_bot" parent="GodotBattleBot/Armature/Skeleton3D" index="0"]
surface_material_override/0 = ExtResource("3")

[node name="Camera3D" type="Camera3D" parent="."]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.5, 11)
fov = 74.0
script = ExtResource("5")
MOVEMENT_SPEED = -8.0
flip_axis = true

[node name="Targets" type="Node3D" parent="Camera3D"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -8)

[node name="IK_LookAt_Head" type="Node3D" parent="Camera3D/Targets"]
script = ExtResource("6")
skeleton_path = NodePath("../../../GodotBattleBot/Armature/Skeleton3D")
bone_name = "Head"
additional_rotation = Vector3(90, 0, 0)

[node name="IK_FABRIK_Left_Arm" type="Node3D" parent="Camera3D/Targets"]
script = ExtResource("8")
skeleton_path = NodePath("../../../GodotBattleBot/Armature/Skeleton3D")
bones_in_chain = PackedStringArray("Left_UpperArm", "Left_LowerArm")
bones_in_chain_lengths = PackedFloat32Array(1.97, 3)
chain_iterations = 10
limit_chain_iterations = false
use_middle_joint_target = true

[node name="Target" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Left_Arm"]
transform = Transform3D(0.518503, 0, -0.855076, 0, 1, 0, 0.855076, 0, 0.518503, 1.13159, 0, -0.155596)

[node name="IK_LookAt_LH" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Left_Arm/Target"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.343393, -0.133381, 0.836605)
script = ExtResource("6")
skeleton_path = NodePath("../../../../../GodotBattleBot/Armature/Skeleton3D")
bone_name = "Left_Hand"
additional_rotation = Vector3(0, 0, 90)
position_using_additional_bone = true
additional_bone_name = "Left_LowerArm"
additional_bone_length = 3.0

[node name="MiddleJoint" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Left_Arm"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 7.16849, 0, -5.31922)

[node name="Left_UpperArm" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Left_Arm"]
transform = Transform3D(-0.120249, 0.882081, -0.455493, -0.0511926, 0.452703, 0.890191, 0.991424, 0.130363, -0.00928126, 1.53444, 0.30189, -3.23425)

[node name="Left_LowerArm" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Left_Arm"]
transform = Transform3D(-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="Node3D" parent="Camera3D/Targets"]
script = ExtResource("8")
skeleton_path = NodePath("../../../GodotBattleBot/Armature/Skeleton3D")
bones_in_chain = PackedStringArray("Right_UpperArm", "Right_LowerArm", "Right_Hand")
bones_in_chain_lengths = PackedFloat32Array(1.97, 3, 1.2)
chain_iterations = 10
limit_chain_iterations = false
use_middle_joint_target = true

[node name="Target" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Right_Arm"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.229958, 0, 0.929313)

[node name="IK_LookAt_RH" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Right_Arm/Target"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.0544824, -0.133381, 0.332403)
script = ExtResource("6")
skeleton_path = NodePath("../../../../../GodotBattleBot/Armature/Skeleton3D")
bone_name = "Right_Hand"
additional_rotation = Vector3(0, 0, 90)

[node name="MiddleJoint" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Right_Arm"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -6.34515, 0, -3.7843)

[node name="Right_UpperArm" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Right_Arm"]
transform = Transform3D(-0.00773287, 0.890205, 0.455493, 0.0143814, -0.455361, 0.890191, 0.999866, 0.0134343, -0.00928123, -1.5334, 0.30189, -3.23425)

[node name="Right_LowerArm" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Right_Arm"]
transform = Transform3D(-0.792023, 0.0165711, -0.610266, -1.49012e-08, 0.999631, 0.0271438, 0.610491, 0.0214986, -0.791732, -2.89561, 0.100755, -2.31866)

[node name="Right_Hand" type="Node3D" parent="Camera3D/Targets/IK_FABRIK_Right_Arm"]
transform = Transform3D(-0.678336, 0.00698721, -0.734719, -2.32831e-09, 0.999955, 0.00950961, 0.734752, 0.00645071, -0.678305, -1.07914, 0.020072, 0.03791)

[node name="1MeterCube" type="MeshInstance3D" parent="Camera3D/Targets"]
mesh = SubResource("3")
surface_material_override/0 = SubResource("4")

[node name="Control" type="Control" parent="."]
layout_mode = 3
anchors_preset = 15
anchor_right = 1.0
anchor_bottom = 1.0

[node name="LabelExtra" type="Label" parent="Control"]
layout_mode = 1
offset_right = 623.0
offset_bottom = 98.0
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!)"

[node name="Panel" type="Panel" parent="Control"]
modulate = Color(1, 1, 1, 0.784314)
layout_mode = 1
anchors_preset = 12
anchor_top = 1.0
anchor_right = 1.0
anchor_bottom = 1.0
offset_left = -2.0
offset_top = -79.0
offset_right = 4.0
grow_horizontal = 2
grow_vertical = 0

[node name="Label" type="Label" parent="Control/Panel"]
layout_mode = 1
anchors_preset = 15
anchor_right = 1.0
anchor_bottom = 1.0
grow_horizontal = 2
grow_vertical = 2
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)"
horizontal_alignment = 1

[node name="LabelLeft" type="Label" parent="Control/Panel"]
layout_mode = 1
anchors_preset = 1
anchor_left = 1.0
anchor_right = 1.0
offset_left = -268.0
offset_top = 4.0
offset_right = -155.0
offset_bottom = 27.0
grow_horizontal = 0
text = "Left Hand"
horizontal_alignment = 1

[node name="LabelRight" type="Label" parent="Control/Panel"]
layout_mode = 0
offset_left = 184.0
offset_top = 2.0
offset_right = 297.0
offset_bottom = 25.0
text = "Right Hand"
horizontal_alignment = 1

[node name="ButtonNext" type="Button" parent="Control"]
layout_mode = 0
anchor_left = 1.0
anchor_top = 1.0
anchor_right = 1.0
anchor_bottom = 1.0
offset_left = -124.0
offset_top = -60.0
offset_right = -5.0
offset_bottom = -10.0
text = "Next scene"
script = ExtResource("10")
scene_to_change_to = "res://skeleton_ik.tscn"

[node name="ButtonPrev" type="Button" parent="Control"]
layout_mode = 0
anchor_top = 1.0
anchor_bottom = 1.0
offset_left = 10.0
offset_top = -60.0
offset_right = 129.0
offset_bottom = -10.0
text = "Previous scene"
script = ExtResource("10")
scene_to_change_to = "res://look_at_ik.tscn"

[editable path="GodotBattleBot"]