quadrilateralcowboy/d3xp/IK.h

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2020-06-12 21:06:25 +00:00
/*
===========================================================================
Doom 3 GPL Source Code
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
Doom 3 Source Code is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Doom 3 Source Code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
===========================================================================
*/
#ifndef __GAME_IK_H__
#define __GAME_IK_H__
/*
===============================================================================
IK base class with a simple fast two bone solver.
===============================================================================
*/
#define IK_ANIM "ik_pose"
class idIK {
public:
idIK( void );
virtual ~idIK( void );
void Save( idSaveGame *savefile ) const;
void Restore( idRestoreGame *savefile );
bool IsInitialized( void ) const;
virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
virtual void Evaluate( void );
virtual void ClearJointMods( void );
bool SolveTwoBones( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, float len0, float len1, idVec3 &jointPos );
float GetBoneAxis( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, idMat3 &axis );
protected:
bool initialized;
bool ik_activate;
idEntity * self; // entity using the animated model
idAnimator * animator; // animator on entity
int modifiedAnim; // animation modified by the IK
idVec3 modelOffset;
};
/*
===============================================================================
IK controller for a walking character with an arbitrary number of legs.
===============================================================================
*/
class idIK_Walk : public idIK {
public:
idIK_Walk( void );
virtual ~idIK_Walk( void );
void Save( idSaveGame *savefile ) const;
void Restore( idRestoreGame *savefile );
virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
virtual void Evaluate( void );
virtual void ClearJointMods( void );
void EnableAll( void );
void DisableAll( void );
void EnableLeg( int num );
void DisableLeg( int num );
private:
static const int MAX_LEGS = 8;
idClipModel * footModel;
int numLegs;
int enabledLegs;
jointHandle_t footJoints[MAX_LEGS];
jointHandle_t ankleJoints[MAX_LEGS];
jointHandle_t kneeJoints[MAX_LEGS];
jointHandle_t hipJoints[MAX_LEGS];
jointHandle_t dirJoints[MAX_LEGS];
jointHandle_t waistJoint;
idVec3 hipForward[MAX_LEGS];
idVec3 kneeForward[MAX_LEGS];
float upperLegLength[MAX_LEGS];
float lowerLegLength[MAX_LEGS];
idMat3 upperLegToHipJoint[MAX_LEGS];
idMat3 lowerLegToKneeJoint[MAX_LEGS];
float smoothing;
float waistSmoothing;
float footShift;
float waistShift;
float minWaistFloorDist;
float minWaistAnkleDist;
float footUpTrace;
float footDownTrace;
bool tiltWaist;
bool usePivot;
// state
int pivotFoot;
float pivotYaw;
idVec3 pivotPos;
bool oldHeightsValid;
float oldWaistHeight;
float oldAnkleHeights[MAX_LEGS];
idVec3 waistOffset;
};
/*
===============================================================================
IK controller for reaching a position with an arm or leg.
===============================================================================
*/
class idIK_Reach : public idIK {
public:
idIK_Reach( void );
virtual ~idIK_Reach( void );
void Save( idSaveGame *savefile ) const;
void Restore( idRestoreGame *savefile );
virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
virtual void Evaluate( void );
virtual void ClearJointMods( void );
private:
static const int MAX_ARMS = 2;
int numArms;
int enabledArms;
jointHandle_t handJoints[MAX_ARMS];
jointHandle_t elbowJoints[MAX_ARMS];
jointHandle_t shoulderJoints[MAX_ARMS];
jointHandle_t dirJoints[MAX_ARMS];
idVec3 shoulderForward[MAX_ARMS];
idVec3 elbowForward[MAX_ARMS];
float upperArmLength[MAX_ARMS];
float lowerArmLength[MAX_ARMS];
idMat3 upperArmToShoulderJoint[MAX_ARMS];
idMat3 lowerArmToElbowJoint[MAX_ARMS];
};
#endif /* !__GAME_IK_H__ */