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GDScript3
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class_name FootstepsComponent
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extends Node3D
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@export var skeleton: Skeleton3D
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@export var movement: MovementComponent
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@export var footsteps: AudioStreamRandomizer
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@export var step_threshold := 0.1
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@export var ik_step_threshold := 0.2
@export var ik_speed := 5.0
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const feet_names := ["LeftFoot", "RightFoot"]
var feet: Array[Foot] = []
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var ik_time: float
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func _ready():
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for foot_name in feet_names:
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var foot = Foot.new()
foot.bone_name = foot_name
foot.bone_id = skeleton.find_bone(foot_name)
foot.audio = get_node(foot_name)
foot.position = skeleton.to_global(skeleton.get_bone_global_pose(foot.bone_id).origin)
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foot.floor_distance = INF
foot.normal = Vector3.UP
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foot.attachment = BoneAttachment3D.new()
foot.attachment.bone_name = foot_name
foot.attachment.bone_idx = foot.bone_id
foot.audio.reparent(foot.attachment)
skeleton.add_child(foot.attachment)
feet.append(foot)
func _process(delta: float):
for foot in feet:
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var global_pose := skeleton.get_bone_global_pose(foot.bone_id)
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var old_position := foot.position
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foot.position = skeleton.to_global(global_pose.origin)
if foot.floor_distance < ik_step_threshold:
var bone_to_global := skeleton.global_transform * global_pose
var normal_local := bone_to_global.basis.transposed() * foot.normal
var pose := skeleton.get_bone_pose(foot.bone_id)
var rot := get_foot_rotation(pose.basis, normal_local)
ik_time = minf(ik_time + ik_speed * delta, 1.0)
skeleton.set_bone_pose_rotation(foot.bone_id, pose.basis.slerp(rot, ik_time))
else:
ik_time = 0
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if foot.floor_distance > step_threshold:
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continue
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foot.velocity = (foot.position - old_position) / delta
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if foot.velocity.y > 0:
continue
if foot.velocity.length_squared() < 1.0:
continue
if foot.audio.playing && foot.audio.get_playback_position() < 0.3:
continue
play(foot.audio)
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func _physics_process(_delta):
var space_state = get_world_3d().direct_space_state
for foot in feet:
var from := foot.position
var to := foot.position + Vector3(0, -10, 0)
var query = PhysicsRayQueryParameters3D.create(from, to, 1)
var result = space_state.intersect_ray(query)
if result:
foot.floor_distance = (foot.position - result.position).length()
foot.normal = result.normal
else:
foot.floor_distance = INF
foot.normal = Vector3.UP
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func play(audio_player: AudioStreamPlayer3D):
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audio_player.stream = footsteps
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audio_player.play()
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func get_foot_rotation(base: Basis, normal: Vector3) -> Basis:
var rot := align_with_y(base, normal)
return rot.rotated(Vector3.UP, PI)
func align_with_y(base: Basis, normal: Vector3) -> Basis:
base.x = -base.z.cross(normal)
base.y = normal
return base.orthonormalized()
# func get_foot_rotation2(base: Basis, normal: Vector3) -> Basis:
# normal.x = -normal.x
# normal.z = -normal.z
# return align_up(base, normal)
# func align_up(base: Basis, normal: Vector3) -> Basis:
# var result = Basis()
# var node_scale = base.get_scale().abs()
# result.x = normal.cross(base.z)
# result.y = normal
# result.z = base.x.cross(normal)
# result = result.orthonormalized()
# result.x *= node_scale.x
# result.y *= node_scale.y
# result.z *= node_scale.z
# return result