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https://github.com/id-Software/DOOM-3-BFG.git
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183 lines
5.4 KiB
C
183 lines
5.4 KiB
C
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/*
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===========================================================================
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Doom 3 BFG Edition GPL Source Code
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Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
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Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 BFG Edition 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 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below.
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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.
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===========================================================================
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*/
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#ifndef __GAME_IK_H__
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#define __GAME_IK_H__
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/*
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===============================================================================
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IK base class with a simple fast two bone solver.
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===============================================================================
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*/
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#define IK_ANIM "ik_pose"
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class idIK {
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public:
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idIK();
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virtual ~idIK();
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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bool IsInitialized() const;
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virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
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virtual void Evaluate();
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virtual void ClearJointMods();
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bool SolveTwoBones( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, float len0, float len1, idVec3 &jointPos );
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float GetBoneAxis( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, idMat3 &axis );
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protected:
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bool initialized;
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bool ik_activate;
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idEntity * self; // entity using the animated model
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idAnimator * animator; // animator on entity
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int modifiedAnim; // animation modified by the IK
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idVec3 modelOffset;
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};
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/*
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===============================================================================
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IK controller for a walking character with an arbitrary number of legs.
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===============================================================================
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*/
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class idIK_Walk : public idIK {
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public:
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idIK_Walk();
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virtual ~idIK_Walk();
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
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virtual void Evaluate();
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virtual void ClearJointMods();
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void EnableAll();
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void DisableAll();
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void EnableLeg( int num );
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void DisableLeg( int num );
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private:
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static const int MAX_LEGS = 8;
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idClipModel * footModel;
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int numLegs;
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int enabledLegs;
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jointHandle_t footJoints[MAX_LEGS];
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jointHandle_t ankleJoints[MAX_LEGS];
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jointHandle_t kneeJoints[MAX_LEGS];
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jointHandle_t hipJoints[MAX_LEGS];
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jointHandle_t dirJoints[MAX_LEGS];
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jointHandle_t waistJoint;
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idVec3 hipForward[MAX_LEGS];
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idVec3 kneeForward[MAX_LEGS];
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float upperLegLength[MAX_LEGS];
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float lowerLegLength[MAX_LEGS];
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idMat3 upperLegToHipJoint[MAX_LEGS];
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idMat3 lowerLegToKneeJoint[MAX_LEGS];
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float smoothing;
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float waistSmoothing;
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float footShift;
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float waistShift;
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float minWaistFloorDist;
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float minWaistAnkleDist;
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float footUpTrace;
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float footDownTrace;
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bool tiltWaist;
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bool usePivot;
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// state
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int pivotFoot;
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float pivotYaw;
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idVec3 pivotPos;
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bool oldHeightsValid;
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float oldWaistHeight;
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float oldAnkleHeights[MAX_LEGS];
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idVec3 waistOffset;
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};
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/*
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===============================================================================
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IK controller for reaching a position with an arm or leg.
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===============================================================================
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*/
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class idIK_Reach : public idIK {
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public:
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idIK_Reach();
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virtual ~idIK_Reach();
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
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virtual void Evaluate();
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virtual void ClearJointMods();
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private:
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static const int MAX_ARMS = 2;
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int numArms;
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int enabledArms;
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jointHandle_t handJoints[MAX_ARMS];
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jointHandle_t elbowJoints[MAX_ARMS];
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jointHandle_t shoulderJoints[MAX_ARMS];
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jointHandle_t dirJoints[MAX_ARMS];
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idVec3 shoulderForward[MAX_ARMS];
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idVec3 elbowForward[MAX_ARMS];
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float upperArmLength[MAX_ARMS];
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float lowerArmLength[MAX_ARMS];
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idMat3 upperArmToShoulderJoint[MAX_ARMS];
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idMat3 lowerArmToElbowJoint[MAX_ARMS];
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};
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#endif /* !__GAME_IK_H__ */
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