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doom3-bfg/neo/d3xp/IK.cpp
Brian Harris 5016f605b8 Initial commit
2012-11-26 12:58:24 -06:00

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/*
===========================================================================
Doom 3 BFG Edition GPL Source Code
Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
Doom 3 BFG Edition 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 BFG Edition 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 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
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.
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.
===========================================================================
*/
#include "../idlib/precompiled.h"
#pragma hdrstop
#include "Game_local.h"
/*
===============================================================================
idIK
===============================================================================
*/
/*
================
idIK::idIK
================
*/
idIK::idIK() {
ik_activate = false;
initialized = false;
self = NULL;
animator = NULL;
modifiedAnim = 0;
modelOffset.Zero();
}
/*
================
idIK::~idIK
================
*/
idIK::~idIK() {
}
/*
================
idIK::Save
================
*/
void idIK::Save( idSaveGame *savefile ) const {
savefile->WriteBool( initialized );
savefile->WriteBool( ik_activate );
savefile->WriteObject( self );
savefile->WriteString( animator != NULL && animator->GetAnim( modifiedAnim ) ? animator->GetAnim( modifiedAnim )->Name() : "" );
savefile->WriteVec3( modelOffset );
}
/*
================
idIK::Restore
================
*/
void idIK::Restore( idRestoreGame *savefile ) {
idStr anim;
savefile->ReadBool( initialized );
savefile->ReadBool( ik_activate );
savefile->ReadObject( reinterpret_cast<idClass *&>( self ) );
savefile->ReadString( anim );
savefile->ReadVec3( modelOffset );
if ( self ) {
animator = self->GetAnimator();
if ( animator == NULL || animator->ModelDef() == NULL ) {
gameLocal.Warning( "idIK::Restore: IK for entity '%s' at (%s) has no model set.",
self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0) );
return;
}
modifiedAnim = animator->GetAnim( anim );
if ( modifiedAnim == 0 ) {
gameLocal.Warning( "idIK::Restore: IK for entity '%s' at (%s) has no modified animation.",
self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0) );
}
} else {
animator = NULL;
modifiedAnim = 0;
}
}
/*
================
idIK::IsInitialized
================
*/
bool idIK::IsInitialized() const {
return initialized && ik_enable.GetBool();
}
/*
================
idIK::Init
================
*/
bool idIK::Init( idEntity *self, const char *anim, const idVec3 &modelOffset ) {
idRenderModel *model;
if ( self == NULL ) {
return false;
}
this->self = self;
animator = self->GetAnimator();
if ( animator == NULL || animator->ModelDef() == NULL ) {
gameLocal.Warning( "idIK::Init: IK for entity '%s' at (%s) has no model set.",
self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
if ( animator->ModelDef()->ModelHandle() == NULL ) {
gameLocal.Warning( "idIK::Init: IK for entity '%s' at (%s) uses default model.",
self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
model = animator->ModelHandle();
if ( model == NULL ) {
gameLocal.Warning( "idIK::Init: IK for entity '%s' at (%s) has no model set.",
self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
modifiedAnim = animator->GetAnim( anim );
if ( modifiedAnim == 0 ) {
gameLocal.Warning( "idIK::Init: IK for entity '%s' at (%s) has no modified animation.",
self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
this->modelOffset = modelOffset;
return true;
}
/*
================
idIK::Evaluate
================
*/
void idIK::Evaluate() {
}
/*
================
idIK::ClearJointMods
================
*/
void idIK::ClearJointMods() {
ik_activate = false;
}
/*
================
idIK::SolveTwoBones
================
*/
bool idIK::SolveTwoBones( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, float len0, float len1, idVec3 &jointPos ) {
float length, lengthSqr, lengthInv, x, y;
idVec3 vec0, vec1;
vec0 = endPos - startPos;
lengthSqr = vec0.LengthSqr();
lengthInv = idMath::InvSqrt( lengthSqr );
length = lengthInv * lengthSqr;
// if the start and end position are too far out or too close to each other
if ( length > len0 + len1 || length < idMath::Fabs( len0 - len1 ) ) {
jointPos = startPos + 0.5f * vec0;
return false;
}
vec0 *= lengthInv;
vec1 = dir - vec0 * dir * vec0;
vec1.Normalize();
x = ( length * length + len0 * len0 - len1 * len1 ) * ( 0.5f * lengthInv );
y = idMath::Sqrt( len0 * len0 - x * x );
jointPos = startPos + x * vec0 + y * vec1;
return true;
}
/*
================
idIK::GetBoneAxis
================
*/
float idIK::GetBoneAxis( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, idMat3 &axis ) {
float length;
axis[0] = endPos - startPos;
length = axis[0].Normalize();
axis[1] = dir - axis[0] * dir * axis[0];
axis[1].Normalize();
axis[2].Cross( axis[1], axis[0] );
return length;
}
/*
===============================================================================
idIK_Walk
===============================================================================
*/
/*
================
idIK_Walk::idIK_Walk
================
*/
idIK_Walk::idIK_Walk() {
int i;
initialized = false;
footModel = NULL;
numLegs = 0;
enabledLegs = 0;
for ( i = 0; i < MAX_LEGS; i++ ) {
footJoints[i] = INVALID_JOINT;
ankleJoints[i] = INVALID_JOINT;
kneeJoints[i] = INVALID_JOINT;
hipJoints[i] = INVALID_JOINT;
dirJoints[i] = INVALID_JOINT;
hipForward[i].Zero();
kneeForward[i].Zero();
upperLegLength[i] = 0.0f;
lowerLegLength[i] = 0.0f;
upperLegToHipJoint[i].Identity();
lowerLegToKneeJoint[i].Identity();
oldAnkleHeights[i] = 0.0f;
}
waistJoint = INVALID_JOINT;
smoothing = 0.75f;
waistSmoothing = 0.5f;
footShift = 0.0f;
waistShift = 0.0f;
minWaistFloorDist = 0.0f;
minWaistAnkleDist = 0.0f;
footUpTrace = 32.0f;
footDownTrace = 32.0f;
tiltWaist = false;
usePivot = false;
pivotFoot = -1;
pivotYaw = 0.0f;
pivotPos.Zero();
oldHeightsValid = false;
oldWaistHeight = 0.0f;
waistOffset.Zero();
}
/*
================
idIK_Walk::~idIK_Walk
================
*/
idIK_Walk::~idIK_Walk() {
if ( footModel ) {
delete footModel;
}
}
/*
================
idIK_Walk::Save
================
*/
void idIK_Walk::Save( idSaveGame *savefile ) const {
int i;
idIK::Save( savefile );
savefile->WriteClipModel( footModel );
savefile->WriteInt( numLegs );
savefile->WriteInt( enabledLegs );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteInt( footJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteInt( ankleJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteInt( kneeJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteInt( hipJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteInt( dirJoints[i] );
savefile->WriteInt( waistJoint );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteVec3( hipForward[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteVec3( kneeForward[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteFloat( upperLegLength[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteFloat( lowerLegLength[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteMat3( upperLegToHipJoint[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->WriteMat3( lowerLegToKneeJoint[i] );
savefile->WriteFloat( smoothing );
savefile->WriteFloat( waistSmoothing );
savefile->WriteFloat( footShift );
savefile->WriteFloat( waistShift );
savefile->WriteFloat( minWaistFloorDist );
savefile->WriteFloat( minWaistAnkleDist );
savefile->WriteFloat( footUpTrace );
savefile->WriteFloat( footDownTrace );
savefile->WriteBool( tiltWaist );
savefile->WriteBool( usePivot );
savefile->WriteInt( pivotFoot );
savefile->WriteFloat( pivotYaw );
savefile->WriteVec3( pivotPos );
savefile->WriteBool( oldHeightsValid );
savefile->WriteFloat( oldWaistHeight );
for ( i = 0; i < MAX_LEGS; i++ ) {
savefile->WriteFloat( oldAnkleHeights[i] );
}
savefile->WriteVec3( waistOffset );
}
/*
================
idIK_Walk::Restore
================
*/
void idIK_Walk::Restore( idRestoreGame *savefile ) {
int i;
idIK::Restore( savefile );
savefile->ReadClipModel( footModel );
savefile->ReadInt( numLegs );
savefile->ReadInt( enabledLegs );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadInt( (int&)footJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadInt( (int&)ankleJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadInt( (int&)kneeJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadInt( (int&)hipJoints[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadInt( (int&)dirJoints[i] );
savefile->ReadInt( (int&)waistJoint );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadVec3( hipForward[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadVec3( kneeForward[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadFloat( upperLegLength[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadFloat( lowerLegLength[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadMat3( upperLegToHipJoint[i] );
for ( i = 0; i < MAX_LEGS; i++ )
savefile->ReadMat3( lowerLegToKneeJoint[i] );
savefile->ReadFloat( smoothing );
savefile->ReadFloat( waistSmoothing );
savefile->ReadFloat( footShift );
savefile->ReadFloat( waistShift );
savefile->ReadFloat( minWaistFloorDist );
savefile->ReadFloat( minWaistAnkleDist );
savefile->ReadFloat( footUpTrace );
savefile->ReadFloat( footDownTrace );
savefile->ReadBool( tiltWaist );
savefile->ReadBool( usePivot );
savefile->ReadInt( pivotFoot );
savefile->ReadFloat( pivotYaw );
savefile->ReadVec3( pivotPos );
savefile->ReadBool( oldHeightsValid );
savefile->ReadFloat( oldWaistHeight );
for ( i = 0; i < MAX_LEGS; i++ ) {
savefile->ReadFloat( oldAnkleHeights[i] );
}
savefile->ReadVec3( waistOffset );
}
/*
================
idIK_Walk::Init
================
*/
bool idIK_Walk::Init( idEntity *self, const char *anim, const idVec3 &modelOffset ) {
int i;
float footSize;
idVec3 verts[4];
idTraceModel trm;
const char *jointName;
idVec3 dir, ankleOrigin, kneeOrigin, hipOrigin, dirOrigin;
idMat3 axis, ankleAxis, kneeAxis, hipAxis;
static idVec3 footWinding[4] = {
idVec3( 1.0f, 1.0f, 0.0f ),
idVec3( -1.0f, 1.0f, 0.0f ),
idVec3( -1.0f, -1.0f, 0.0f ),
idVec3( 1.0f, -1.0f, 0.0f )
};
if ( !self ) {
return false;
}
numLegs = Min( self->spawnArgs.GetInt( "ik_numLegs", "0" ), MAX_LEGS );
if ( numLegs == 0 ) {
return true;
}
if ( !idIK::Init( self, anim, modelOffset ) ) {
return false;
}
int numJoints = animator->NumJoints();
idJointMat *joints = ( idJointMat * )_alloca16( numJoints * sizeof( joints[0] ) );
// create the animation frame used to setup the IK
gameEdit->ANIM_CreateAnimFrame( animator->ModelHandle(), animator->GetAnim( modifiedAnim )->MD5Anim( 0 ), numJoints, joints, 1, animator->ModelDef()->GetVisualOffset() + modelOffset, animator->RemoveOrigin() );
enabledLegs = 0;
// get all the joints
for ( i = 0; i < numLegs; i++ ) {
jointName = self->spawnArgs.GetString( va( "ik_foot%d", i+1 ) );
footJoints[i] = animator->GetJointHandle( jointName );
if ( footJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Walk::Init: invalid foot joint '%s'", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_ankle%d", i+1 ) );
ankleJoints[i] = animator->GetJointHandle( jointName );
if ( ankleJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Walk::Init: invalid ankle joint '%s'", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_knee%d", i+1 ) );
kneeJoints[i] = animator->GetJointHandle( jointName );
if ( kneeJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Walk::Init: invalid knee joint '%s'\n", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_hip%d", i+1 ) );
hipJoints[i] = animator->GetJointHandle( jointName );
if ( hipJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Walk::Init: invalid hip joint '%s'\n", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_dir%d", i+1 ) );
dirJoints[i] = animator->GetJointHandle( jointName );
enabledLegs |= 1 << i;
}
jointName = self->spawnArgs.GetString( "ik_waist" );
waistJoint = animator->GetJointHandle( jointName );
if ( waistJoint == INVALID_JOINT ) {
gameLocal.Error( "idIK_Walk::Init: invalid waist joint '%s'\n", jointName );
}
// get the leg bone lengths and rotation matrices
for ( i = 0; i < numLegs; i++ ) {
oldAnkleHeights[i] = 0.0f;
ankleAxis = joints[ ankleJoints[ i ] ].ToMat3();
ankleOrigin = joints[ ankleJoints[ i ] ].ToVec3();
kneeAxis = joints[ kneeJoints[ i ] ].ToMat3();
kneeOrigin = joints[ kneeJoints[ i ] ].ToVec3();
hipAxis = joints[ hipJoints[ i ] ].ToMat3();
hipOrigin = joints[ hipJoints[ i ] ].ToVec3();
// get the IK direction
if ( dirJoints[i] != INVALID_JOINT ) {
dirOrigin = joints[ dirJoints[ i ] ].ToVec3();
dir = dirOrigin - kneeOrigin;
} else {
dir.Set( 1.0f, 0.0f, 0.0f );
}
hipForward[i] = dir * hipAxis.Transpose();
kneeForward[i] = dir * kneeAxis.Transpose();
// conversion from upper leg bone axis to hip joint axis
upperLegLength[i] = GetBoneAxis( hipOrigin, kneeOrigin, dir, axis );
upperLegToHipJoint[i] = hipAxis * axis.Transpose();
// conversion from lower leg bone axis to knee joint axis
lowerLegLength[i] = GetBoneAxis( kneeOrigin, ankleOrigin, dir, axis );
lowerLegToKneeJoint[i] = kneeAxis * axis.Transpose();
}
smoothing = self->spawnArgs.GetFloat( "ik_smoothing", "0.75" );
waistSmoothing = self->spawnArgs.GetFloat( "ik_waistSmoothing", "0.75" );
footShift = self->spawnArgs.GetFloat( "ik_footShift", "0" );
waistShift = self->spawnArgs.GetFloat( "ik_waistShift", "0" );
minWaistFloorDist = self->spawnArgs.GetFloat( "ik_minWaistFloorDist", "0" );
minWaistAnkleDist = self->spawnArgs.GetFloat( "ik_minWaistAnkleDist", "0" );
footUpTrace = self->spawnArgs.GetFloat( "ik_footUpTrace", "32" );
footDownTrace = self->spawnArgs.GetFloat( "ik_footDownTrace", "32" );
tiltWaist = self->spawnArgs.GetBool( "ik_tiltWaist", "0" );
usePivot = self->spawnArgs.GetBool( "ik_usePivot", "0" );
// setup a clip model for the feet
footSize = self->spawnArgs.GetFloat( "ik_footSize", "4" ) * 0.5f;
if ( footSize > 0.0f ) {
for ( i = 0; i < 4; i++ ) {
verts[i] = footWinding[i] * footSize;
}
trm.SetupPolygon( verts, 4 );
footModel = new (TAG_PHYSICS_CLIP) idClipModel( trm );
}
initialized = true;
return true;
}
/*
================
idIK_Walk::Evaluate
================
*/
void idIK_Walk::Evaluate() {
int i, newPivotFoot = -1;
float modelHeight, jointHeight, lowestHeight, floorHeights[MAX_LEGS];
float shift, smallestShift, newHeight, step, newPivotYaw, height, largestAnkleHeight;
idVec3 modelOrigin, normal, hipDir, kneeDir, start, end, jointOrigins[MAX_LEGS];
idVec3 footOrigin, ankleOrigin, kneeOrigin, hipOrigin, waistOrigin;
idMat3 modelAxis, waistAxis, axis;
idMat3 hipAxis[MAX_LEGS], kneeAxis[MAX_LEGS], ankleAxis[MAX_LEGS];
trace_t results;
if ( !self || !gameLocal.isNewFrame ) {
return;
}
// if no IK enabled on any legs
if ( !enabledLegs ) {
return;
}
normal = - self->GetPhysics()->GetGravityNormal();
modelOrigin = self->GetPhysics()->GetOrigin();
modelAxis = self->GetRenderEntity()->axis;
modelHeight = modelOrigin * normal;
modelOrigin += modelOffset * modelAxis;
// create frame without joint mods
animator->CreateFrame( gameLocal.time, false );
// get the joint positions for the feet
lowestHeight = idMath::INFINITY;
for ( i = 0; i < numLegs; i++ ) {
animator->GetJointTransform( footJoints[i], gameLocal.time, footOrigin, axis );
jointOrigins[i] = modelOrigin + footOrigin * modelAxis;
jointHeight = jointOrigins[i] * normal;
if ( jointHeight < lowestHeight ) {
lowestHeight = jointHeight;
newPivotFoot = i;
}
}
if ( usePivot ) {
newPivotYaw = modelAxis[0].ToYaw();
// change pivot foot
if ( newPivotFoot != pivotFoot || idMath::Fabs( idMath::AngleNormalize180( newPivotYaw - pivotYaw ) ) > 30.0f ) {
pivotFoot = newPivotFoot;
pivotYaw = newPivotYaw;
animator->GetJointTransform( footJoints[pivotFoot], gameLocal.time, footOrigin, axis );
pivotPos = modelOrigin + footOrigin * modelAxis;
}
// keep pivot foot in place
jointOrigins[pivotFoot] = pivotPos;
}
// get the floor heights for the feet
for ( i = 0; i < numLegs; i++ ) {
if ( !( enabledLegs & ( 1 << i ) ) ) {
continue;
}
start = jointOrigins[i] + normal * footUpTrace;
end = jointOrigins[i] - normal * footDownTrace;
gameLocal.clip.Translation( results, start, end, footModel, mat3_identity, CONTENTS_SOLID|CONTENTS_IKCLIP, self );
floorHeights[i] = results.endpos * normal;
if ( ik_debug.GetBool() && footModel ) {
idFixedWinding w;
for ( int j = 0; j < footModel->GetTraceModel()->numVerts; j++ ) {
w += footModel->GetTraceModel()->verts[j];
}
gameRenderWorld->DebugWinding( colorRed, w, results.endpos, results.endAxis );
}
}
const idPhysics *phys = self->GetPhysics();
// test whether or not the character standing on the ground
bool onGround = phys->HasGroundContacts();
// test whether or not the character is standing on a plat
bool onPlat = false;
for ( i = 0; i < phys->GetNumContacts(); i++ ) {
idEntity *ent = gameLocal.entities[ phys->GetContact( i ).entityNum ];
if ( ent != NULL && ent->IsType( idPlat::Type ) ) {
onPlat = true;
break;
}
}
// adjust heights of the ankles
smallestShift = idMath::INFINITY;
largestAnkleHeight = -idMath::INFINITY;
for ( i = 0; i < numLegs; i++ ) {
if ( onGround && ( enabledLegs & ( 1 << i ) ) ) {
shift = floorHeights[i] - modelHeight + footShift;
} else {
shift = 0.0f;
}
if ( shift < smallestShift ) {
smallestShift = shift;
}
animator->GetJointTransform( ankleJoints[i], gameLocal.time, ankleOrigin, ankleAxis[i] );
jointOrigins[i] = modelOrigin + ankleOrigin * modelAxis;
height = jointOrigins[i] * normal;
if ( oldHeightsValid && !onPlat ) {
step = height + shift - oldAnkleHeights[i];
shift -= smoothing * step;
}
newHeight = height + shift;
if ( newHeight > largestAnkleHeight ) {
largestAnkleHeight = newHeight;
}
oldAnkleHeights[i] = newHeight;
jointOrigins[i] += shift * normal;
}
animator->GetJointTransform( waistJoint, gameLocal.time, waistOrigin, waistAxis );
waistOrigin = modelOrigin + waistOrigin * modelAxis;
// adjust position of the waist
waistOffset = ( smallestShift + waistShift ) * normal;
// if the waist should be at least a certain distance above the floor
if ( minWaistFloorDist > 0.0f && waistOffset * normal < 0.0f ) {
start = waistOrigin;
end = waistOrigin + waistOffset - normal * minWaistFloorDist;
gameLocal.clip.Translation( results, start, end, footModel, modelAxis, CONTENTS_SOLID|CONTENTS_IKCLIP, self );
height = ( waistOrigin + waistOffset - results.endpos ) * normal;
if ( height < minWaistFloorDist ) {
waistOffset += ( minWaistFloorDist - height ) * normal;
}
}
// if the waist should be at least a certain distance above the ankles
if ( minWaistAnkleDist > 0.0f ) {
height = ( waistOrigin + waistOffset ) * normal;
if ( height - largestAnkleHeight < minWaistAnkleDist ) {
waistOffset += ( minWaistAnkleDist - ( height - largestAnkleHeight ) ) * normal;
}
}
if ( oldHeightsValid ) {
// smoothly adjust height of waist
newHeight = ( waistOrigin + waistOffset ) * normal;
step = newHeight - oldWaistHeight;
waistOffset -= waistSmoothing * step * normal;
}
// save height of waist for smoothing
oldWaistHeight = ( waistOrigin + waistOffset ) * normal;
if ( !oldHeightsValid ) {
oldHeightsValid = true;
return;
}
// solve IK
for ( i = 0; i < numLegs; i++ ) {
// get the position of the hip in world space
animator->GetJointTransform( hipJoints[i], gameLocal.time, hipOrigin, axis );
hipOrigin = modelOrigin + waistOffset + hipOrigin * modelAxis;
hipDir = hipForward[i] * axis * modelAxis;
// get the IK bend direction
animator->GetJointTransform( kneeJoints[i], gameLocal.time, kneeOrigin, axis );
kneeDir = kneeForward[i] * axis * modelAxis;
// solve IK and calculate knee position
SolveTwoBones( hipOrigin, jointOrigins[i], kneeDir, upperLegLength[i], lowerLegLength[i], kneeOrigin );
if ( ik_debug.GetBool() ) {
gameRenderWorld->DebugLine( colorCyan, hipOrigin, kneeOrigin );
gameRenderWorld->DebugLine( colorRed, kneeOrigin, jointOrigins[i] );
gameRenderWorld->DebugLine( colorYellow, kneeOrigin, kneeOrigin + hipDir );
gameRenderWorld->DebugLine( colorGreen, kneeOrigin, kneeOrigin + kneeDir );
}
// get the axis for the hip joint
GetBoneAxis( hipOrigin, kneeOrigin, hipDir, axis );
hipAxis[i] = upperLegToHipJoint[i] * ( axis * modelAxis.Transpose() );
// get the axis for the knee joint
GetBoneAxis( kneeOrigin, jointOrigins[i], kneeDir, axis );
kneeAxis[i] = lowerLegToKneeJoint[i] * ( axis * modelAxis.Transpose() );
}
// set the joint mods
animator->SetJointAxis( waistJoint, JOINTMOD_WORLD_OVERRIDE, waistAxis );
animator->SetJointPos( waistJoint, JOINTMOD_WORLD_OVERRIDE, ( waistOrigin + waistOffset - modelOrigin ) * modelAxis.Transpose() );
for ( i = 0; i < numLegs; i++ ) {
animator->SetJointAxis( hipJoints[i], JOINTMOD_WORLD_OVERRIDE, hipAxis[i] );
animator->SetJointAxis( kneeJoints[i], JOINTMOD_WORLD_OVERRIDE, kneeAxis[i] );
animator->SetJointAxis( ankleJoints[i], JOINTMOD_WORLD_OVERRIDE, ankleAxis[i] );
}
ik_activate = true;
}
/*
================
idIK_Walk::ClearJointMods
================
*/
void idIK_Walk::ClearJointMods() {
int i;
if ( !self || !ik_activate ) {
return;
}
animator->SetJointAxis( waistJoint, JOINTMOD_NONE, mat3_identity );
animator->SetJointPos( waistJoint, JOINTMOD_NONE, vec3_origin );
for ( i = 0; i < numLegs; i++ ) {
animator->SetJointAxis( hipJoints[i], JOINTMOD_NONE, mat3_identity );
animator->SetJointAxis( kneeJoints[i], JOINTMOD_NONE, mat3_identity );
animator->SetJointAxis( ankleJoints[i], JOINTMOD_NONE, mat3_identity );
}
ik_activate = false;
}
/*
================
idIK_Walk::EnableAll
================
*/
void idIK_Walk::EnableAll() {
enabledLegs = ( 1 << numLegs ) - 1;
oldHeightsValid = false;
}
/*
================
idIK_Walk::DisableAll
================
*/
void idIK_Walk::DisableAll() {
enabledLegs = 0;
oldHeightsValid = false;
}
/*
================
idIK_Walk::EnableLeg
================
*/
void idIK_Walk::EnableLeg( int num ) {
enabledLegs |= 1 << num;
}
/*
================
idIK_Walk::DisableLeg
================
*/
void idIK_Walk::DisableLeg( int num ) {
enabledLegs &= ~( 1 << num );
}
/*
===============================================================================
idIK_Reach
===============================================================================
*/
/*
================
idIK_Reach::idIK_Reach
================
*/
idIK_Reach::idIK_Reach() {
int i;
initialized = false;
numArms = 0;
enabledArms = 0;
for ( i = 0; i < MAX_ARMS; i++ ) {
handJoints[i] = INVALID_JOINT;
elbowJoints[i] = INVALID_JOINT;
shoulderJoints[i] = INVALID_JOINT;
dirJoints[i] = INVALID_JOINT;
shoulderForward[i].Zero();
elbowForward[i].Zero();
upperArmLength[i] = 0.0f;
lowerArmLength[i] = 0.0f;
upperArmToShoulderJoint[i].Identity();
lowerArmToElbowJoint[i].Identity();
}
}
/*
================
idIK_Reach::~idIK_Reach
================
*/
idIK_Reach::~idIK_Reach() {
}
/*
================
idIK_Reach::Save
================
*/
void idIK_Reach::Save( idSaveGame *savefile ) const {
int i;
idIK::Save( savefile );
savefile->WriteInt( numArms );
savefile->WriteInt( enabledArms );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteInt( handJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteInt( elbowJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteInt( shoulderJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteInt( dirJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteVec3( shoulderForward[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteVec3( elbowForward[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteFloat( upperArmLength[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteFloat( lowerArmLength[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteMat3( upperArmToShoulderJoint[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->WriteMat3( lowerArmToElbowJoint[i] );
}
/*
================
idIK_Reach::Restore
================
*/
void idIK_Reach::Restore( idRestoreGame *savefile ) {
int i;
idIK::Restore( savefile );
savefile->ReadInt( numArms );
savefile->ReadInt( enabledArms );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadInt( (int&)handJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadInt( (int&)elbowJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadInt( (int&)shoulderJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadInt( (int&)dirJoints[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadVec3( shoulderForward[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadVec3( elbowForward[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadFloat( upperArmLength[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadFloat( lowerArmLength[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadMat3( upperArmToShoulderJoint[i] );
for ( i = 0; i < MAX_ARMS; i++ )
savefile->ReadMat3( lowerArmToElbowJoint[i] );
}
/*
================
idIK_Reach::Init
================
*/
bool idIK_Reach::Init( idEntity *self, const char *anim, const idVec3 &modelOffset ) {
int i;
const char *jointName;
idTraceModel trm;
idVec3 dir, handOrigin, elbowOrigin, shoulderOrigin, dirOrigin;
idMat3 axis, handAxis, elbowAxis, shoulderAxis;
if ( !self ) {
return false;
}
numArms = Min( self->spawnArgs.GetInt( "ik_numArms", "0" ), MAX_ARMS );
if ( numArms == 0 ) {
return true;
}
if ( !idIK::Init( self, anim, modelOffset ) ) {
return false;
}
int numJoints = animator->NumJoints();
idJointMat *joints = ( idJointMat * )_alloca16( numJoints * sizeof( joints[0] ) );
// create the animation frame used to setup the IK
gameEdit->ANIM_CreateAnimFrame( animator->ModelHandle(), animator->GetAnim( modifiedAnim )->MD5Anim( 0 ), numJoints, joints, 1, animator->ModelDef()->GetVisualOffset() + modelOffset, animator->RemoveOrigin() );
enabledArms = 0;
// get all the joints
for ( i = 0; i < numArms; i++ ) {
jointName = self->spawnArgs.GetString( va( "ik_hand%d", i+1 ) );
handJoints[i] = animator->GetJointHandle( jointName );
if ( handJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Reach::Init: invalid hand joint '%s'", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_elbow%d", i+1 ) );
elbowJoints[i] = animator->GetJointHandle( jointName );
if ( elbowJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Reach::Init: invalid elbow joint '%s'\n", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_shoulder%d", i+1 ) );
shoulderJoints[i] = animator->GetJointHandle( jointName );
if ( shoulderJoints[i] == INVALID_JOINT ) {
gameLocal.Error( "idIK_Reach::Init: invalid shoulder joint '%s'\n", jointName );
}
jointName = self->spawnArgs.GetString( va( "ik_elbowDir%d", i+1 ) );
dirJoints[i] = animator->GetJointHandle( jointName );
enabledArms |= 1 << i;
}
// get the arm bone lengths and rotation matrices
for ( i = 0; i < numArms; i++ ) {
handAxis = joints[ handJoints[ i ] ].ToMat3();
handOrigin = joints[ handJoints[ i ] ].ToVec3();
elbowAxis = joints[ elbowJoints[ i ] ].ToMat3();
elbowOrigin = joints[ elbowJoints[ i ] ].ToVec3();
shoulderAxis = joints[ shoulderJoints[ i ] ].ToMat3();
shoulderOrigin = joints[ shoulderJoints[ i ] ].ToVec3();
// get the IK direction
if ( dirJoints[i] != INVALID_JOINT ) {
dirOrigin = joints[ dirJoints[ i ] ].ToVec3();
dir = dirOrigin - elbowOrigin;
} else {
dir.Set( -1.0f, 0.0f, 0.0f );
}
shoulderForward[i] = dir * shoulderAxis.Transpose();
elbowForward[i] = dir * elbowAxis.Transpose();
// conversion from upper arm bone axis to should joint axis
upperArmLength[i] = GetBoneAxis( shoulderOrigin, elbowOrigin, dir, axis );
upperArmToShoulderJoint[i] = shoulderAxis * axis.Transpose();
// conversion from lower arm bone axis to elbow joint axis
lowerArmLength[i] = GetBoneAxis( elbowOrigin, handOrigin, dir, axis );
lowerArmToElbowJoint[i] = elbowAxis * axis.Transpose();
}
initialized = true;
return true;
}
/*
================
idIK_Reach::Evaluate
================
*/
void idIK_Reach::Evaluate() {
int i;
idVec3 modelOrigin, shoulderOrigin, elbowOrigin, handOrigin, shoulderDir, elbowDir;
idMat3 modelAxis, axis;
idMat3 shoulderAxis[MAX_ARMS], elbowAxis[MAX_ARMS];
trace_t trace;
modelOrigin = self->GetRenderEntity()->origin;
modelAxis = self->GetRenderEntity()->axis;
// solve IK
for ( i = 0; i < numArms; i++ ) {
// get the position of the shoulder in world space
animator->GetJointTransform( shoulderJoints[i], gameLocal.time, shoulderOrigin, axis );
shoulderOrigin = modelOrigin + shoulderOrigin * modelAxis;
shoulderDir = shoulderForward[i] * axis * modelAxis;
// get the position of the hand in world space
animator->GetJointTransform( handJoints[i], gameLocal.time, handOrigin, axis );
handOrigin = modelOrigin + handOrigin * modelAxis;
// get first collision going from shoulder to hand
gameLocal.clip.TracePoint( trace, shoulderOrigin, handOrigin, CONTENTS_SOLID, self );
handOrigin = trace.endpos;
// get the IK bend direction
animator->GetJointTransform( elbowJoints[i], gameLocal.time, elbowOrigin, axis );
elbowDir = elbowForward[i] * axis * modelAxis;
// solve IK and calculate elbow position
SolveTwoBones( shoulderOrigin, handOrigin, elbowDir, upperArmLength[i], lowerArmLength[i], elbowOrigin );
if ( ik_debug.GetBool() ) {
gameRenderWorld->DebugLine( colorCyan, shoulderOrigin, elbowOrigin );
gameRenderWorld->DebugLine( colorRed, elbowOrigin, handOrigin );
gameRenderWorld->DebugLine( colorYellow, elbowOrigin, elbowOrigin + elbowDir );
gameRenderWorld->DebugLine( colorGreen, elbowOrigin, elbowOrigin + shoulderDir );
}
// get the axis for the shoulder joint
GetBoneAxis( shoulderOrigin, elbowOrigin, shoulderDir, axis );
shoulderAxis[i] = upperArmToShoulderJoint[i] * ( axis * modelAxis.Transpose() );
// get the axis for the elbow joint
GetBoneAxis( elbowOrigin, handOrigin, elbowDir, axis );
elbowAxis[i] = lowerArmToElbowJoint[i] * ( axis * modelAxis.Transpose() );
}
for ( i = 0; i < numArms; i++ ) {
animator->SetJointAxis( shoulderJoints[i], JOINTMOD_WORLD_OVERRIDE, shoulderAxis[i] );
animator->SetJointAxis( elbowJoints[i], JOINTMOD_WORLD_OVERRIDE, elbowAxis[i] );
}
ik_activate = true;
}
/*
================
idIK_Reach::ClearJointMods
================
*/
void idIK_Reach::ClearJointMods() {
int i;
if ( !self || !ik_activate ) {
return;
}
for ( i = 0; i < numArms; i++ ) {
animator->SetJointAxis( shoulderJoints[i], JOINTMOD_NONE, mat3_identity );
animator->SetJointAxis( elbowJoints[i], JOINTMOD_NONE, mat3_identity );
animator->SetJointAxis( handJoints[i], JOINTMOD_NONE, mat3_identity );
}
ik_activate = false;
}
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