1337 lines
34 KiB
C++
1337 lines
34 KiB
C++
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#include "../idlib/precompiled.h"
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#pragma hdrstop
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#include "Game_local.h"
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/*
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===============================================================================
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Articulated figure controller.
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===============================================================================
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*/
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#define ARTICULATED_FIGURE_ANIM "af_pose"
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#define POSE_BOUNDS_EXPANSION 5.0f
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/*
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================
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idAF::idAF
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================
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*/
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idAF::idAF( void ) {
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self = NULL;
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animator = NULL;
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modifiedAnim = 0;
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baseOrigin.Zero();
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baseAxis.Identity();
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poseTime = -1;
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restStartTime = -1;
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isLoaded = false;
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isActive = false;
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hasBindConstraints = false;
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}
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/*
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================
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idAF::~idAF
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================
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*/
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idAF::~idAF( void ) {
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}
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/*
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================
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idAF::Save
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================
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*/
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void idAF::Save( idSaveGame *savefile ) const {
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savefile->WriteObject( self );
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savefile->WriteString( GetName() );
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savefile->WriteBool( hasBindConstraints );
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savefile->WriteVec3( baseOrigin );
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savefile->WriteMat3( baseAxis );
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savefile->WriteInt( poseTime );
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savefile->WriteInt( restStartTime );
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savefile->WriteBool( isLoaded );
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savefile->WriteBool( isActive );
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savefile->WriteStaticObject( physicsObj );
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}
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/*
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================
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idAF::Restore
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================
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*/
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void idAF::Restore( idRestoreGame *savefile ) {
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savefile->ReadObject( reinterpret_cast<idClass *&>( self ) );
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savefile->ReadString( name );
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savefile->ReadBool( hasBindConstraints );
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savefile->ReadVec3( baseOrigin );
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savefile->ReadMat3( baseAxis );
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savefile->ReadInt( poseTime );
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savefile->ReadInt( restStartTime );
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savefile->ReadBool( isLoaded );
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savefile->ReadBool( isActive );
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animator = NULL;
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modifiedAnim = 0;
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if ( self ) {
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SetAnimator( self->GetAnimator() );
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Load( self, name );
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if ( hasBindConstraints ) {
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AddBindConstraints();
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}
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}
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savefile->ReadStaticObject( physicsObj );
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if ( self ) {
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if ( isActive ) {
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// clear all animations
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animator->ClearAllAnims( gameLocal.time, 0 );
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animator->ClearAllJoints();
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// switch to articulated figure physics
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self->RestorePhysics( &physicsObj );
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physicsObj.EnableClip();
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}
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UpdateAnimation();
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}
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}
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/*
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================
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idAF::UpdateAnimation
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================
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*/
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bool idAF::UpdateAnimation( void ) {
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int i;
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idVec3 origin, renderOrigin, bodyOrigin;
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idMat3 axis, renderAxis, bodyAxis;
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renderEntity_t *renderEntity;
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if ( !IsLoaded() ) {
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return false;
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}
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if ( !IsActive() ) {
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return false;
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}
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renderEntity = self->GetRenderEntity();
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if ( !renderEntity ) {
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return false;
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}
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if ( physicsObj.IsAtRest() ) {
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if ( restStartTime == physicsObj.GetRestStartTime() ) {
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return false;
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}
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restStartTime = physicsObj.GetRestStartTime();
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}
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// get the render position
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origin = physicsObj.GetOrigin( 0 );
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axis = physicsObj.GetAxis( 0 );
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renderAxis = baseAxis.Transpose() * axis;
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renderOrigin = origin - baseOrigin * renderAxis;
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// create an animation frame which reflects the current pose of the articulated figure
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animator->InitAFPose();
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for ( i = 0; i < jointMods.Num(); i++ ) {
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// check for the origin joint
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if ( jointMods[i].jointHandle == 0 ) {
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continue;
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}
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bodyOrigin = physicsObj.GetOrigin( jointMods[i].bodyId );
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bodyAxis = physicsObj.GetAxis( jointMods[i].bodyId );
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axis = jointMods[i].jointBodyAxis.Transpose() * ( bodyAxis * renderAxis.Transpose() );
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origin = ( bodyOrigin - jointMods[i].jointBodyOrigin * axis - renderOrigin ) * renderAxis.Transpose();
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animator->SetAFPoseJointMod( jointMods[i].jointHandle, jointMods[i].jointMod, axis, origin );
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}
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animator->FinishAFPose( modifiedAnim, GetBounds().Expand( POSE_BOUNDS_EXPANSION ), gameLocal.time );
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animator->SetAFPoseBlendWeight( 1.0f );
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return true;
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}
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/*
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================
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idAF::GetBounds
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returns bounds for the current pose
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================
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*/
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idBounds idAF::GetBounds( void ) const {
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int i;
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idAFBody *body;
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idVec3 origin, entityOrigin;
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idMat3 axis, entityAxis;
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idBounds bounds, b;
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bounds.Clear();
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// get model base transform
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origin = physicsObj.GetOrigin( 0 );
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axis = physicsObj.GetAxis( 0 );
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entityAxis = baseAxis.Transpose() * axis;
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entityOrigin = origin - baseOrigin * entityAxis;
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// get bounds relative to base
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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origin = ( body->GetWorldOrigin() - entityOrigin ) * entityAxis.Transpose();
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axis = body->GetWorldAxis() * entityAxis.Transpose();
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b.FromTransformedBounds( body->GetClipModel()->GetBounds(), origin, axis );
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bounds += b;
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}
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return bounds;
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}
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/*
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================
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idAF::SetupPose
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Transforms the articulated figure to match the current animation pose of the given entity.
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================
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*/
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void idAF::SetupPose( idEntity *ent, int time ) {
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int i;
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idAFBody *body;
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idVec3 origin;
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idMat3 axis;
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idAnimator *animatorPtr;
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renderEntity_t *renderEntity;
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if ( !IsLoaded() || !ent ) {
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return;
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}
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animatorPtr = ent->GetAnimator();
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if ( !animatorPtr ) {
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return;
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}
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renderEntity = ent->GetRenderEntity();
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if ( !renderEntity ) {
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return;
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}
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// if the animation is driven by the physics
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if ( self->GetPhysics() == &physicsObj ) {
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return;
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}
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// if the pose was already updated this frame
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if ( poseTime == time ) {
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return;
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}
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poseTime = time;
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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animatorPtr->GetJointTransform( jointMods[i].jointHandle, time, origin, axis );
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body->SetWorldOrigin( renderEntity->origin + ( origin + jointMods[i].jointBodyOrigin * axis ) * renderEntity->axis );
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body->SetWorldAxis( jointMods[i].jointBodyAxis * axis * renderEntity->axis );
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}
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if ( isActive ) {
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physicsObj.UpdateClipModels();
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}
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}
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/*
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================
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idAF::ChangePose
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Change the articulated figure to match the current animation pose of the given entity
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and set the velocity relative to the previous pose.
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================
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*/
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void idAF::ChangePose( idEntity *ent, int time ) {
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int i;
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float invDelta;
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idAFBody *body;
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idVec3 origin, lastOrigin;
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idMat3 axis;
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idAnimator *animatorPtr;
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renderEntity_t *renderEntity;
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if ( !IsLoaded() || !ent ) {
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return;
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}
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animatorPtr = ent->GetAnimator();
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if ( !animatorPtr ) {
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return;
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}
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renderEntity = ent->GetRenderEntity();
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if ( !renderEntity ) {
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return;
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}
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// if the animation is driven by the physics
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if ( self->GetPhysics() == &physicsObj ) {
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return;
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}
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// if the pose was already updated this frame
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if ( poseTime == time ) {
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return;
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}
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invDelta = 1.0f / MS2SEC( time - poseTime );
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poseTime = time;
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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animatorPtr->GetJointTransform( jointMods[i].jointHandle, time, origin, axis );
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lastOrigin = body->GetWorldOrigin();
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body->SetWorldOrigin( renderEntity->origin + ( origin + jointMods[i].jointBodyOrigin * axis ) * renderEntity->axis );
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body->SetWorldAxis( jointMods[i].jointBodyAxis * axis * renderEntity->axis );
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body->SetLinearVelocity( ( body->GetWorldOrigin() - lastOrigin ) * invDelta );
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}
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physicsObj.UpdateClipModels();
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}
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/*
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================
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idAF::EntitiesTouchingAF
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================
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*/
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int idAF::EntitiesTouchingAF( afTouch_t touchList[ MAX_GENTITIES ] ) const {
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int i, j, numClipModels;
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idAFBody *body;
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idClipModel *cm;
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idClipModel *clipModels[ MAX_GENTITIES ];
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int numTouching;
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if ( !IsLoaded() ) {
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return 0;
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}
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numTouching = 0;
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// RAVEN BEGIN
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// ddynerman: multiple clip worlds
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numClipModels = gameLocal.ClipModelsTouchingBounds( self, physicsObj.GetAbsBounds(), -1, clipModels, MAX_GENTITIES );
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// RAVEN END
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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for ( j = 0; j < numClipModels; j++ ) {
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cm = clipModels[j];
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if ( !cm || cm->GetEntity() == self ) {
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continue;
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}
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if ( !cm->IsTraceModel() ) {
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continue;
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}
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if ( !body->GetClipModel()->GetAbsBounds().IntersectsBounds( cm->GetAbsBounds() ) ) {
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continue;
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}
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// RAVEN BEGIN
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// ddynerman: multiple clip worlds
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if ( gameLocal.ContentsModel( self, body->GetWorldOrigin(), body->GetClipModel(), body->GetWorldAxis(), -1, cm->GetCollisionModel(), cm->GetOrigin(), cm->GetAxis() ) ) {
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// RAVEN END
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touchList[ numTouching ].touchedByBody = body;
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touchList[ numTouching ].touchedClipModel = cm;
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touchList[ numTouching ].touchedEnt = cm->GetEntity();
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numTouching++;
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clipModels[j] = NULL;
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}
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}
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}
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return numTouching;
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}
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/*
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================
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idAF::BodyForClipModelId
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================
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*/
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int idAF::BodyForClipModelId( int id ) const {
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if ( id >= 0 ) {
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return id;
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} else {
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id = CLIPMODEL_ID_TO_JOINT_HANDLE( id );
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if ( id < jointBody.Num() ) {
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return jointBody[id];
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} else {
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return 0;
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}
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}
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}
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/*
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================
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idAF::GetPhysicsToVisualTransform
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================
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*/
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void idAF::GetPhysicsToVisualTransform( idVec3 &origin, idMat3 &axis ) const {
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origin = - baseOrigin;
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axis = baseAxis.Transpose();
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}
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/*
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================
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idAF::GetImpactInfo
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================
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*/
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void idAF::GetImpactInfo( idEntity *ent, int id, const idVec3 &point, impactInfo_t *info ) {
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SetupPose( self, gameLocal.time );
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physicsObj.GetImpactInfo( BodyForClipModelId( id ), point, info );
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}
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/*
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================
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idAF::ApplyImpulse
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================
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*/
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void idAF::ApplyImpulse( idEntity *ent, int id, const idVec3 &point, const idVec3 &impulse ) {
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SetupPose( self, gameLocal.time );
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physicsObj.ApplyImpulse( BodyForClipModelId( id ), point, impulse );
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}
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/*
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================
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idAF::AddForce
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================
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*/
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void idAF::AddForce( idEntity *ent, int id, const idVec3 &point, const idVec3 &force ) {
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SetupPose( self, gameLocal.time );
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physicsObj.AddForce( BodyForClipModelId( id ), point, force );
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}
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/*
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================
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idAF::AddBody
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Adds a body.
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================
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*/
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void idAF::AddBody( idAFBody *body, const idJointMat *joints, const char *jointName, const AFJointModType_t mod ) {
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int index;
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jointHandle_t handle;
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idVec3 origin;
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idMat3 axis;
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handle = animator->GetJointHandle( jointName );
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if ( handle == INVALID_JOINT ) {
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gameLocal.Error( "idAF for entity '%s' at (%s) modifies unknown joint '%s'", self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0), jointName );
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}
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assert( handle < animator->NumJoints() );
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origin = joints[ handle ].ToVec3();
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axis = joints[ handle ].ToMat3();
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index = jointMods.Num();
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jointMods.SetNum( index + 1, false );
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jointMods[index].bodyId = physicsObj.GetBodyId( body );
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jointMods[index].jointHandle = handle;
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jointMods[index].jointMod = mod;
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jointMods[index].jointBodyOrigin = ( body->GetWorldOrigin() - origin ) * axis.Transpose();
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jointMods[index].jointBodyAxis = body->GetWorldAxis() * axis.Transpose();
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}
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/*
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================
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idAF::SetBase
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Sets the base body.
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================
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*/
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void idAF::SetBase( idAFBody *body, const idJointMat *joints ) {
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physicsObj.ForceBodyId( body, 0 );
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baseOrigin = body->GetWorldOrigin();
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baseAxis = body->GetWorldAxis();
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AddBody( body, joints, animator->GetJointName( animator->GetFirstChild( "origin" ) ), AF_JOINTMOD_AXIS );
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}
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/*
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================
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idAF::LoadBody
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================
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*/
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bool idAF::LoadBody( const idDeclAF_Body *fb, const idJointMat *joints ) {
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int id, i;
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float length, mass;
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idTraceModel trm;
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idClipModel *clip;
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idAFBody *body;
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idMat3 axis, inertiaTensor;
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idVec3 centerOfMass, origin;
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idBounds bounds;
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idList<jointHandle_t> jointList;
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origin = fb->origin.ToVec3();
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axis = fb->angles.ToMat3();
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bounds[0] = fb->v1.ToVec3();
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bounds[1] = fb->v2.ToVec3();
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switch( fb->modelType ) {
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case TRM_BOX: {
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trm.SetupBox( bounds );
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break;
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}
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case TRM_OCTAHEDRON: {
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trm.SetupOctahedron( bounds );
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break;
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}
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case TRM_DODECAHEDRON: {
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trm.SetupDodecahedron( bounds );
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break;
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}
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case TRM_CYLINDER: {
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trm.SetupCylinder( bounds, fb->numSides );
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break;
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}
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case TRM_CONE: {
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// place the apex at the origin
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bounds[0].z -= bounds[1].z;
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bounds[1].z = 0.0f;
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trm.SetupCone( bounds, fb->numSides );
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break;
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}
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case TRM_BONE: {
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// direction of bone
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axis[2] = fb->v2.ToVec3() - fb->v1.ToVec3();
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length = axis[2].Normalize();
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// axis of bone trace model
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axis[2].NormalVectors( axis[0], axis[1] );
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axis[1] = -axis[1];
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// create bone trace model
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trm.SetupBone( length, fb->width );
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break;
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}
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default:
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assert( 0 );
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break;
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}
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trm.GetMassProperties( 1.0f, mass, centerOfMass, inertiaTensor );
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trm.Translate( -centerOfMass );
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origin += centerOfMass * axis;
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body = physicsObj.GetBody( fb->name );
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if ( body ) {
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clip = body->GetClipModel();
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if ( !clip->IsEqual( trm ) ) {
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clip = new idClipModel( trm );
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clip->SetContents( fb->contents );
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clip->Link( self, 0, origin, axis );
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body->SetClipModel( clip );
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}
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clip->SetContents( fb->contents );
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body->SetDensity( fb->density, fb->inertiaScale );
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body->SetWorldOrigin( origin );
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body->SetWorldAxis( axis );
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id = physicsObj.GetBodyId( body );
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}
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else {
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clip = new idClipModel( trm );
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clip->SetContents( fb->contents );
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clip->Link( self, 0, origin, axis );
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body = new idAFBody( fb->name, clip, fb->density );
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if ( fb->inertiaScale != mat3_identity ) {
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body->SetDensity( fb->density, fb->inertiaScale );
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}
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id = physicsObj.AddBody( body );
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}
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if ( fb->linearFriction != -1.0f ) {
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body->SetFriction( fb->linearFriction, fb->angularFriction, fb->contactFriction );
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}
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body->SetClipMask( fb->clipMask );
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body->SetSelfCollision( fb->selfCollision );
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if ( fb->jointName == "origin" ) {
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SetBase( body, joints );
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} else {
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AFJointModType_t mod;
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if ( fb->jointMod == DECLAF_JOINTMOD_AXIS ) {
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mod = AF_JOINTMOD_AXIS;
|
|
} else if ( fb->jointMod == DECLAF_JOINTMOD_ORIGIN ) {
|
|
mod = AF_JOINTMOD_ORIGIN;
|
|
} else if ( fb->jointMod == DECLAF_JOINTMOD_BOTH ) {
|
|
mod = AF_JOINTMOD_BOTH;
|
|
} else {
|
|
mod = AF_JOINTMOD_AXIS;
|
|
}
|
|
AddBody( body, joints, fb->jointName, mod );
|
|
}
|
|
|
|
if ( fb->frictionDirection.ToVec3() != vec3_origin ) {
|
|
body->SetFrictionDirection( fb->frictionDirection.ToVec3() );
|
|
}
|
|
if ( fb->contactMotorDirection.ToVec3() != vec3_origin ) {
|
|
body->SetContactMotorDirection( fb->contactMotorDirection.ToVec3() );
|
|
}
|
|
|
|
// update table to find the nearest articulated figure body for a joint of the skeletal model
|
|
animator->GetJointList( fb->containedJoints, jointList );
|
|
for( i = 0; i < jointList.Num(); i++ ) {
|
|
if ( jointBody[ jointList[ i ] ] != -1 ) {
|
|
|
|
// RAVEN BEGIN
|
|
// kfuller: better load time warning for joints contained by multiple bodies
|
|
gameLocal.Warning( "%s: body '%s': joint '%s' is already contained by body '%s'",
|
|
name.c_str(), fb->name.c_str(),
|
|
animator->GetJointName( (jointHandle_t)jointList[i] ),
|
|
physicsObj.GetBody( jointBody[ jointList[ i ] ] )->GetName().c_str() );
|
|
// RAVEN END
|
|
}
|
|
jointBody[ jointList[ i ] ] = id;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::LoadConstraint
|
|
================
|
|
*/
|
|
bool idAF::LoadConstraint( const idDeclAF_Constraint *fc ) {
|
|
idAFBody *body1, *body2;
|
|
|
|
body1 = physicsObj.GetBody( fc->body1 );
|
|
body2 = physicsObj.GetBody( fc->body2 );
|
|
|
|
switch( fc->type ) {
|
|
case DECLAF_CONSTRAINT_FIXED: {
|
|
idAFConstraint_Fixed *c;
|
|
c = static_cast<idAFConstraint_Fixed *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Fixed( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_BALLANDSOCKETJOINT: {
|
|
idAFConstraint_BallAndSocketJoint *c;
|
|
c = static_cast<idAFConstraint_BallAndSocketJoint *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_BallAndSocketJoint( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3() );
|
|
c->SetFriction( fc->friction );
|
|
switch( fc->limit ) {
|
|
case idDeclAF_Constraint::LIMIT_CONE: {
|
|
c->SetConeLimit( fc->limitAxis.ToVec3(), fc->limitAngles[0], fc->shaft[0].ToVec3() );
|
|
break;
|
|
}
|
|
case idDeclAF_Constraint::LIMIT_PYRAMID: {
|
|
idAngles angles = fc->limitAxis.ToVec3().ToAngles();
|
|
angles.roll = fc->limitAngles[2];
|
|
idMat3 axis = angles.ToMat3();
|
|
c->SetPyramidLimit( axis[0], axis[1], fc->limitAngles[0], fc->limitAngles[1], fc->shaft[0].ToVec3() );
|
|
break;
|
|
}
|
|
default: {
|
|
c->SetNoLimit();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_UNIVERSALJOINT: {
|
|
idAFConstraint_UniversalJoint *c;
|
|
c = static_cast<idAFConstraint_UniversalJoint *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_UniversalJoint( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3() );
|
|
c->SetShafts( fc->shaft[0].ToVec3(), fc->shaft[1].ToVec3() );
|
|
c->SetFriction( fc->friction );
|
|
switch( fc->limit ) {
|
|
case idDeclAF_Constraint::LIMIT_CONE: {
|
|
c->SetConeLimit( fc->limitAxis.ToVec3(), fc->limitAngles[0] );
|
|
break;
|
|
}
|
|
case idDeclAF_Constraint::LIMIT_PYRAMID: {
|
|
idAngles angles = fc->limitAxis.ToVec3().ToAngles();
|
|
angles.roll = fc->limitAngles[2];
|
|
idMat3 axis = angles.ToMat3();
|
|
c->SetPyramidLimit( axis[0], axis[1], fc->limitAngles[0], fc->limitAngles[1] );
|
|
break;
|
|
}
|
|
default: {
|
|
c->SetNoLimit();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_HINGE: {
|
|
idAFConstraint_Hinge *c;
|
|
c = static_cast<idAFConstraint_Hinge *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Hinge( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3() );
|
|
c->SetAxis( fc->axis.ToVec3() );
|
|
c->SetFriction( fc->friction );
|
|
switch( fc->limit ) {
|
|
case idDeclAF_Constraint::LIMIT_CONE: {
|
|
idVec3 left, up, axis, shaft;
|
|
fc->axis.ToVec3().OrthogonalBasis( left, up );
|
|
axis = left * idRotation( vec3_origin, fc->axis.ToVec3(), fc->limitAngles[0] );
|
|
shaft = left * idRotation( vec3_origin, fc->axis.ToVec3(), fc->limitAngles[2] );
|
|
c->SetLimit( axis, fc->limitAngles[1], shaft );
|
|
break;
|
|
}
|
|
default: {
|
|
c->SetNoLimit();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_SLIDER: {
|
|
idAFConstraint_Slider *c;
|
|
c = static_cast<idAFConstraint_Slider *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Slider( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAxis( fc->axis.ToVec3() );
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_SPRING: {
|
|
idAFConstraint_Spring *c;
|
|
c = static_cast<idAFConstraint_Spring *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Spring( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3(), fc->anchor2.ToVec3() );
|
|
c->SetSpring( fc->stretch, fc->compress, fc->damping, fc->restLength );
|
|
c->SetLimit( fc->minLength, fc->maxLength );
|
|
break;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
GetJointTransform
|
|
================
|
|
*/
|
|
static bool GetJointTransform( void *model, const idJointMat *frame, const char *jointName, idVec3 &origin, idMat3 &axis ) {
|
|
jointHandle_t joint;
|
|
|
|
joint = reinterpret_cast<idAnimator *>(model)->GetJointHandle( jointName );
|
|
if ( ( joint >= 0 ) && ( joint < reinterpret_cast<idAnimator *>(model)->NumJoints() ) ) {
|
|
origin = frame[ joint ].ToVec3();
|
|
axis = frame[ joint ].ToMat3();
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Load
|
|
================
|
|
*/
|
|
// RAVEN BEGIN
|
|
// ddynerman: purge constraints/joints before loading a new one
|
|
bool idAF::Load( idEntity *ent, const char *fileName, bool purgeAF /* = false */ ) {
|
|
// RAVEN END
|
|
int i, j;
|
|
const idDeclAF *file;
|
|
const idDeclModelDef *modelDef;
|
|
idRenderModel *model;
|
|
int numJoints;
|
|
idJointMat *joints;
|
|
|
|
assert( ent );
|
|
|
|
self = ent;
|
|
physicsObj.SetSelf( self );
|
|
|
|
if ( animator == NULL ) {
|
|
gameLocal.Warning( "Couldn't load af '%s' for entity '%s' at (%s): NULL animator\n", name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
|
|
return false;
|
|
}
|
|
|
|
name = fileName;
|
|
name.StripFileExtension();
|
|
|
|
file = static_cast<const idDeclAF *>( declManager->FindType( DECL_AF, name ) );
|
|
if ( !file ) {
|
|
gameLocal.Warning( "Couldn't load af '%s' for entity '%s' at (%s)\n", name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
|
|
return false;
|
|
}
|
|
|
|
if ( file->bodies.Num() == 0 || file->bodies[0]->jointName != "origin" ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no body which modifies the origin joint.",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
|
|
return false;
|
|
}
|
|
|
|
modelDef = animator->ModelDef();
|
|
if ( modelDef == NULL || modelDef->GetState() == DS_DEFAULTED ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no or defaulted modelDef '%s'",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), modelDef ? modelDef->GetName() : "" );
|
|
return false;
|
|
}
|
|
|
|
model = animator->ModelHandle();
|
|
if ( model == NULL || model->IsDefaultModel() ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no or defaulted model '%s'",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), model ? model->Name() : "" );
|
|
return false;
|
|
}
|
|
|
|
// get the modified animation
|
|
modifiedAnim = animator->GetAnim( ARTICULATED_FIGURE_ANIM );
|
|
if ( !modifiedAnim ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no modified animation '%s'",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), ARTICULATED_FIGURE_ANIM );
|
|
return false;
|
|
}
|
|
|
|
// create the animation frame used to setup the articulated figure
|
|
numJoints = animator->NumJoints();
|
|
joints = ( idJointMat * )_alloca16( numJoints * sizeof( joints[0] ) );
|
|
gameEdit->ANIM_CreateAnimFrame( model, animator->GetAnim( modifiedAnim )->MD5Anim( 0 ), numJoints, joints, 1, animator->ModelDef()->GetVisualOffset(), animator->RemoveOrigin() );
|
|
|
|
// set all vector positions from model joints
|
|
file->Finish( GetJointTransform, joints, animator );
|
|
|
|
// initialize articulated figure physics
|
|
physicsObj.SetGravity( gameLocal.GetGravity() );
|
|
physicsObj.SetClipMask( file->clipMask );
|
|
physicsObj.SetDefaultFriction( file->defaultLinearFriction, file->defaultAngularFriction, file->defaultContactFriction );
|
|
physicsObj.SetSuspendSpeed( file->suspendVelocity, file->suspendAcceleration );
|
|
physicsObj.SetSuspendTolerance( file->noMoveTime, file->noMoveTranslation, file->noMoveRotation );
|
|
physicsObj.SetSuspendTime( file->minMoveTime, file->maxMoveTime );
|
|
physicsObj.SetSelfCollision( file->selfCollision );
|
|
// RAVEN BEGIN
|
|
// rjohnson: fast AF eval to skip some things that are not needed for specific circumstances
|
|
physicsObj.SetFastEval( file->fastEval );
|
|
// RAVEN END
|
|
|
|
// clear the list with transforms from joints to bodies
|
|
jointMods.SetNum( 0, false );
|
|
|
|
// clear the joint to body conversion list
|
|
jointBody.AssureSize( animator->NumJoints() );
|
|
for ( i = 0; i < jointBody.Num(); i++ ) {
|
|
jointBody[i] = -1;
|
|
}
|
|
|
|
// RAVEN BEGIN
|
|
// ddynerman: purge constraints/joints before loading a new one
|
|
// delete any bodies in the physicsObj that are no longer in the idDeclAF
|
|
if( purgeAF ) {
|
|
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
|
|
physicsObj.DeleteBody( i );
|
|
i--;
|
|
}
|
|
} else {
|
|
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
|
|
idAFBody *body = physicsObj.GetBody( i );
|
|
for ( j = 0; j < file->bodies.Num(); j++ ) {
|
|
if ( file->bodies[j]->name.Icmp( body->GetName() ) == 0 ) {
|
|
break;
|
|
}
|
|
}
|
|
if ( j >= file->bodies.Num() ) {
|
|
physicsObj.DeleteBody( i );
|
|
i--;
|
|
}
|
|
}
|
|
}
|
|
|
|
// delete any constraints in the physicsObj that are no longer in the idDeclAF
|
|
if( purgeAF ) {
|
|
for ( i = 0; i < physicsObj.GetNumConstraints(); i++ ) {
|
|
physicsObj.DeleteConstraint( i );
|
|
i--;
|
|
}
|
|
} else {
|
|
for ( i = 0; i < physicsObj.GetNumConstraints(); i++ ) {
|
|
idAFConstraint *constraint = physicsObj.GetConstraint( i );
|
|
for ( j = 0; j < file->constraints.Num(); j++ ) {
|
|
if ( file->constraints[j]->name.Icmp( constraint->GetName() ) == 0 &&
|
|
file->constraints[j]->type == constraint->GetType() ) {
|
|
break;
|
|
}
|
|
}
|
|
if ( j >= file->constraints.Num() ) {
|
|
physicsObj.DeleteConstraint( i );
|
|
i--;
|
|
}
|
|
}
|
|
}
|
|
// RAVEN END
|
|
// load bodies from the file
|
|
for ( i = 0; i < file->bodies.Num(); i++ ) {
|
|
LoadBody( file->bodies[i], joints );
|
|
}
|
|
|
|
// load constraints from the file
|
|
for ( i = 0; i < file->constraints.Num(); i++ ) {
|
|
LoadConstraint( file->constraints[i] );
|
|
}
|
|
|
|
physicsObj.UpdateClipModels();
|
|
|
|
// check if each joint is contained by a body
|
|
for( i = 0; i < animator->NumJoints(); i++ ) {
|
|
if ( jointBody[i] == -1 ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) joint '%s' is not contained by a body",
|
|
name.c_str(), self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0), animator->GetJointName( (jointHandle_t)i ) );
|
|
}
|
|
}
|
|
|
|
physicsObj.SetMass( file->totalMass );
|
|
physicsObj.SetChanged();
|
|
|
|
// disable the articulated figure for collision detection until activated
|
|
physicsObj.DisableClip();
|
|
|
|
isLoaded = true;
|
|
|
|
poseTime = -1;
|
|
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Start
|
|
================
|
|
*/
|
|
void idAF::Start( void ) {
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
// clear all animations
|
|
animator->ClearAllAnims( gameLocal.time, 0 );
|
|
animator->ClearAllJoints();
|
|
// switch to articulated figure physics
|
|
self->SetPhysics( &physicsObj );
|
|
// start the articulated figure physics simulation
|
|
physicsObj.EnableClip();
|
|
|
|
physicsObj.Activate();
|
|
isActive = true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::TestSolid
|
|
================
|
|
*/
|
|
bool idAF::TestSolid( void ) const {
|
|
int i;
|
|
idAFBody *body;
|
|
trace_t trace;
|
|
idStr str;
|
|
bool solid;
|
|
|
|
if ( !IsLoaded() ) {
|
|
return false;
|
|
}
|
|
|
|
if ( !af_testSolid.GetBool() ) {
|
|
return false;
|
|
}
|
|
|
|
solid = false;
|
|
|
|
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
|
|
body = physicsObj.GetBody( i );
|
|
// RAVEN BEGIN
|
|
// ddynerman: multiple clip worlds
|
|
if ( gameLocal.Translation( self, trace, body->GetWorldOrigin(), body->GetWorldOrigin(), body->GetClipModel(), body->GetWorldAxis(), body->GetClipMask(), self ) ) {
|
|
// RAVEN END
|
|
float depth = idMath::Fabs( trace.c.point * trace.c.normal - trace.c.dist );
|
|
|
|
body->SetWorldOrigin( body->GetWorldOrigin() + trace.c.normal * ( depth + 8.0f ) );
|
|
|
|
gameLocal.DWarning( "%s: body '%s' stuck in %d (normal = %.2f %.2f %.2f, depth = %.2f)", self->name.c_str(),
|
|
body->GetName().c_str(), trace.c.contents, trace.c.normal.x, trace.c.normal.y, trace.c.normal.z, depth );
|
|
solid = true;
|
|
|
|
}
|
|
}
|
|
return solid;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::StartFromCurrentPose
|
|
================
|
|
*/
|
|
void idAF::StartFromCurrentPose( int inheritVelocityTime ) {
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
|
|
// if the ragdoll should inherit velocity from the animation
|
|
if ( inheritVelocityTime > 0 ) {
|
|
|
|
// make sure the ragdoll is at rest
|
|
physicsObj.PutToRest();
|
|
|
|
// set the pose for some time back
|
|
SetupPose( self, gameLocal.time - inheritVelocityTime );
|
|
|
|
// change the pose for the current time and set velocities
|
|
ChangePose( self, gameLocal.time );
|
|
}
|
|
else {
|
|
// transform the articulated figure to reflect the current animation pose
|
|
SetupPose( self, gameLocal.time );
|
|
}
|
|
|
|
physicsObj.UpdateClipModels();
|
|
|
|
TestSolid();
|
|
|
|
Start();
|
|
|
|
UpdateAnimation();
|
|
|
|
// update the render entity origin and axis
|
|
self->UpdateModel();
|
|
|
|
// make sure the renderer gets the updated origin and axis
|
|
self->Present();
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Stop
|
|
================
|
|
*/
|
|
void idAF::Stop( void ) {
|
|
// disable the articulated figure for collision detection
|
|
physicsObj.UnlinkClip();
|
|
isActive = false;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Rest
|
|
================
|
|
*/
|
|
void idAF::Rest( void ) {
|
|
physicsObj.PutToRest();
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::SetConstraintPosition
|
|
|
|
Only moves constraints that bind the entity to another entity.
|
|
================
|
|
*/
|
|
void idAF::SetConstraintPosition( const char *name, const idVec3 &pos ) {
|
|
idAFConstraint *constraint;
|
|
|
|
constraint = GetPhysics()->GetConstraint( name );
|
|
|
|
if ( !constraint ) {
|
|
gameLocal.Warning( "can't find a constraint with the name '%s'", name );
|
|
return;
|
|
}
|
|
|
|
if ( constraint->GetBody2() != NULL ) {
|
|
gameLocal.Warning( "constraint '%s' does not bind to another entity", name );
|
|
return;
|
|
}
|
|
|
|
switch( constraint->GetType() ) {
|
|
case CONSTRAINT_BALLANDSOCKETJOINT: {
|
|
idAFConstraint_BallAndSocketJoint *bs = static_cast<idAFConstraint_BallAndSocketJoint *>(constraint);
|
|
bs->Translate( pos - bs->GetAnchor() );
|
|
break;
|
|
}
|
|
case CONSTRAINT_UNIVERSALJOINT: {
|
|
idAFConstraint_UniversalJoint *uj = static_cast<idAFConstraint_UniversalJoint *>(constraint);
|
|
uj->Translate( pos - uj->GetAnchor() );
|
|
break;
|
|
}
|
|
case CONSTRAINT_HINGE: {
|
|
idAFConstraint_Hinge *hinge = static_cast<idAFConstraint_Hinge *>(constraint);
|
|
hinge->Translate( pos - hinge->GetAnchor() );
|
|
break;
|
|
}
|
|
default: {
|
|
gameLocal.Warning( "cannot set the constraint position for '%s'", name );
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::SaveState
|
|
================
|
|
*/
|
|
void idAF::SaveState( idDict &args ) const {
|
|
int i;
|
|
idAFBody *body;
|
|
idStr key, value;
|
|
|
|
for ( i = 0; i < jointMods.Num(); i++ ) {
|
|
body = physicsObj.GetBody( jointMods[i].bodyId );
|
|
|
|
key = "body " + body->GetName();
|
|
value = body->GetWorldOrigin().ToString( 8 );
|
|
value += " ";
|
|
value += body->GetWorldAxis().ToAngles().ToString( 8 );
|
|
args.Set( key, value );
|
|
}
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::LoadState
|
|
================
|
|
*/
|
|
void idAF::LoadState( const idDict &args ) {
|
|
const idKeyValue *kv;
|
|
idStr name;
|
|
idAFBody *body;
|
|
idVec3 origin;
|
|
idAngles angles;
|
|
|
|
kv = args.MatchPrefix( "body ", NULL );
|
|
while ( kv ) {
|
|
|
|
name = kv->GetKey();
|
|
name.Strip( "body " );
|
|
body = physicsObj.GetBody( name );
|
|
if ( body ) {
|
|
sscanf( kv->GetValue(), "%f %f %f %f %f %f", &origin.x, &origin.y, &origin.z, &angles.pitch, &angles.yaw, &angles.roll );
|
|
body->SetWorldOrigin( origin );
|
|
body->SetWorldAxis( angles.ToMat3() );
|
|
} else {
|
|
gameLocal.Warning("Unknown body part %s in articulated figure %s", name.c_str(), this->name.c_str());
|
|
}
|
|
|
|
kv = args.MatchPrefix( "body ", kv );
|
|
}
|
|
|
|
physicsObj.UpdateClipModels();
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::AddBindConstraints
|
|
================
|
|
*/
|
|
void idAF::AddBindConstraints( void ) {
|
|
const idKeyValue *kv;
|
|
idStr name;
|
|
idAFBody *body;
|
|
idLexer lexer;
|
|
idToken type, bodyName, jointName;
|
|
idVec3 origin, renderOrigin;
|
|
idMat3 axis, renderAxis;
|
|
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
|
|
const idDict &args = self->spawnArgs;
|
|
|
|
// RAVEN BEGIN
|
|
// kfuller: I want joint friction as a spawn arg
|
|
idToken jointFriction;
|
|
// RAVEN END
|
|
|
|
// get the render position
|
|
origin = physicsObj.GetOrigin( 0 );
|
|
axis = physicsObj.GetAxis( 0 );
|
|
renderAxis = baseAxis.Transpose() * axis;
|
|
renderOrigin = origin - baseOrigin * renderAxis;
|
|
|
|
// parse all the bind constraints
|
|
for ( kv = args.MatchPrefix( "bindConstraint ", NULL ); kv; kv = args.MatchPrefix( "bindConstraint ", kv ) ) {
|
|
name = kv->GetKey();
|
|
name.Strip( "bindConstraint " );
|
|
|
|
lexer.LoadMemory( kv->GetValue(), kv->GetValue().Length(), kv->GetKey() );
|
|
lexer.ReadToken( &type );
|
|
|
|
lexer.ReadToken( &bodyName );
|
|
body = physicsObj.GetBody( bodyName );
|
|
if ( !body ) {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: body '%s' not found on entity '%s'", bodyName.c_str(), self->name.c_str() );
|
|
lexer.FreeSource();
|
|
continue;
|
|
}
|
|
|
|
if ( type.Icmp( "fixed" ) == 0 ) {
|
|
idAFConstraint_Fixed *c;
|
|
|
|
c = new idAFConstraint_Fixed( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
else if ( type.Icmp( "ballAndSocket" ) == 0 ) {
|
|
idAFConstraint_BallAndSocketJoint *c;
|
|
|
|
c = new idAFConstraint_BallAndSocketJoint( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
lexer.ReadToken( &jointName );
|
|
|
|
jointHandle_t joint = animator->GetJointHandle( jointName );
|
|
if ( joint == INVALID_JOINT ) {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found", jointName.c_str() );
|
|
}
|
|
|
|
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
|
|
c->SetAnchor( renderOrigin + origin * renderAxis );
|
|
|
|
// RAVEN BEGIN
|
|
// kfuller: I want joint friction as a spawn arg
|
|
if (lexer.ReadToken(&jointFriction)) {
|
|
c->SetFriction(jointFriction.GetFloatValue());
|
|
}
|
|
// RAVEN END
|
|
}
|
|
else if ( type.Icmp( "universal" ) == 0 ) {
|
|
idAFConstraint_UniversalJoint *c;
|
|
|
|
c = new idAFConstraint_UniversalJoint( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
lexer.ReadToken( &jointName );
|
|
|
|
jointHandle_t joint = animator->GetJointHandle( jointName );
|
|
if ( joint == INVALID_JOINT ) {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found", jointName.c_str() );
|
|
}
|
|
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
|
|
c->SetAnchor( renderOrigin + origin * renderAxis );
|
|
c->SetShafts( idVec3( 0, 0, 1 ), idVec3( 0, 0, -1 ) );
|
|
|
|
// RAVEN BEGIN
|
|
// kfuller: I want joint friction as a spawn arg
|
|
if (lexer.ReadToken(&jointFriction)) {
|
|
c->SetFriction(jointFriction.GetFloatValue());
|
|
}
|
|
// RAVEN END
|
|
}
|
|
else if (type.Icmp( "hinge" ) == 0 )
|
|
{
|
|
idAFConstraint_Hinge *c;
|
|
c = new idAFConstraint_Hinge( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
lexer.ReadToken( &jointName );
|
|
|
|
jointHandle_t joint = animator->GetJointHandle( jointName );
|
|
if ( joint == INVALID_JOINT )
|
|
{
|
|
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found\n", jointName.c_str() );
|
|
}
|
|
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
|
|
c->SetAnchor( renderOrigin + origin * renderAxis );
|
|
c->SetAxis(renderAxis[1]);
|
|
c->SetNoLimit();
|
|
if (lexer.ReadToken(&jointFriction))
|
|
{
|
|
float frictionValue = 0;
|
|
|
|
sscanf(jointFriction.c_str(), "%f", &frictionValue);
|
|
c->SetFriction(frictionValue);
|
|
}
|
|
idToken hingeAxis;
|
|
if (lexer.ReadToken(&hingeAxis))
|
|
{
|
|
int hingeAxisValue = 1;
|
|
|
|
sscanf(hingeAxis.c_str(), "%d", &hingeAxisValue);
|
|
if (hingeAxisValue >= 0 && hingeAxisValue <= 2)
|
|
{
|
|
c->SetAxis(renderAxis[hingeAxisValue]);
|
|
}
|
|
}
|
|
}
|
|
// RAVEN END
|
|
else {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: unknown constraint type '%s' on entity '%s'", type.c_str(), self->name.c_str() );
|
|
}
|
|
|
|
lexer.FreeSource();
|
|
}
|
|
|
|
hasBindConstraints = true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::RemoveBindConstraints
|
|
================
|
|
*/
|
|
void idAF::RemoveBindConstraints( void ) {
|
|
const idKeyValue *kv;
|
|
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
|
|
const idDict &args = self->spawnArgs;
|
|
idStr name;
|
|
|
|
kv = args.MatchPrefix( "bindConstraint ", NULL );
|
|
while ( kv ) {
|
|
name = kv->GetKey();
|
|
name.Strip( "bindConstraint " );
|
|
|
|
if ( physicsObj.GetConstraint( name ) ) {
|
|
physicsObj.DeleteConstraint( name );
|
|
}
|
|
|
|
kv = args.MatchPrefix( "bindConstraint ", kv );
|
|
}
|
|
|
|
hasBindConstraints = false;
|
|
}
|