156 lines
3.9 KiB
C++
156 lines
3.9 KiB
C++
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#ifndef __GAME_IK_H__
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#define __GAME_IK_H__
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/*
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===============================================================================
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IK base class with a simple fast two bone solver.
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===============================================================================
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*/
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#define IK_ANIM "ik_pose"
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class idIK {
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public:
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idIK( void );
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virtual ~idIK( void );
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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bool IsInitialized( void ) const;
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virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
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virtual void Evaluate( void );
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virtual void ClearJointMods( void );
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bool SolveTwoBones( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, float len0, float len1, idVec3 &jointPos );
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float GetBoneAxis( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, idMat3 &axis );
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protected:
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bool initialized;
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bool ik_activate;
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idEntity * self; // entity using the animated model
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idAnimator * animator; // animator on entity
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int modifiedAnim; // animation modified by the IK
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idVec3 modelOffset;
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};
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/*
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===============================================================================
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IK controller for a walking character with an arbitrary number of legs.
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===============================================================================
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*/
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class idIK_Walk : public idIK {
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public:
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idIK_Walk( void );
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virtual ~idIK_Walk( void );
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
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virtual void Evaluate( void );
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virtual void ClearJointMods( void );
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void EnableAll( void );
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void DisableAll( void );
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void EnableLeg( int num );
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void DisableLeg( int num );
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private:
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static const int MAX_LEGS = 8;
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idClipModel * footModel;
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int numLegs;
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int enabledLegs;
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jointHandle_t footJoints[MAX_LEGS];
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jointHandle_t ankleJoints[MAX_LEGS];
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jointHandle_t kneeJoints[MAX_LEGS];
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jointHandle_t hipJoints[MAX_LEGS];
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jointHandle_t dirJoints[MAX_LEGS];
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jointHandle_t waistJoint;
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idVec3 hipForward[MAX_LEGS];
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idVec3 kneeForward[MAX_LEGS];
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float upperLegLength[MAX_LEGS];
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float lowerLegLength[MAX_LEGS];
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idMat3 upperLegToHipJoint[MAX_LEGS];
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idMat3 lowerLegToKneeJoint[MAX_LEGS];
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float smoothing;
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float waistSmoothing;
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float footShift;
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float waistShift;
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float minWaistFloorDist;
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float minWaistAnkleDist;
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float footUpTrace;
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float footDownTrace;
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bool tiltWaist;
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bool usePivot;
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// state
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int pivotFoot;
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float pivotYaw;
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idVec3 pivotPos;
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bool oldHeightsValid;
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float oldWaistHeight;
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float oldAnkleHeights[MAX_LEGS];
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idVec3 waistOffset;
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};
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/*
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===============================================================================
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IK controller for reaching a position with an arm or leg.
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===============================================================================
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*/
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class idIK_Reach : public idIK {
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public:
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idIK_Reach( void );
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virtual ~idIK_Reach( void );
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
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virtual void Evaluate( void );
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virtual void ClearJointMods( void );
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private:
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static const int MAX_ARMS = 2;
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int numArms;
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int enabledArms;
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jointHandle_t handJoints[MAX_ARMS];
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jointHandle_t elbowJoints[MAX_ARMS];
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jointHandle_t shoulderJoints[MAX_ARMS];
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jointHandle_t dirJoints[MAX_ARMS];
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idVec3 shoulderForward[MAX_ARMS];
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idVec3 elbowForward[MAX_ARMS];
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float upperArmLength[MAX_ARMS];
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float lowerArmLength[MAX_ARMS];
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idMat3 upperArmToShoulderJoint[MAX_ARMS];
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idMat3 lowerArmToElbowJoint[MAX_ARMS];
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};
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#endif /* !__GAME_IK_H__ */
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