InverseKinematics node, basic features

I don't already know how the fuck it works, but it is.
A bit slow currently, but hope to improve it soon.

The current limitations:

1. No constraints. At all.
2. Used simplest CCD algorithm, I just can't believe
in jacobian construction from code.
3. Slow to get to target.

1 files changed, 47 insertions, 0 deletions

diff --git a/modules/ik/register_types.cpp b/modules/ik/register_types.cpp
new file mode 100644
index 000000000..e7df7f55b
--- /dev/null
+++ b/modules/ik/register_types.cpp
@@ -0,0 +1,47 @@
+/*************************************************************************/
+/*  register_types.cpp                                                   */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur.                 */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+#include "register_types.h"
+#ifndef _3D_DISABLED
+#include "object_type_db.h"
+#include "ik.h"
+#endif
+
+void register_ik_types() {
+
+#ifndef _3D_DISABLED
+	ObjectTypeDB::register_type<InverseKinematics>();
+#endif
+}
+
+
+
+void unregister_ik_types() {
+
+
+}