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CPedIK

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This commit is contained in:
aap 2020-05-15 19:41:44 +02:00
parent ede6b7db6a
commit 1fde2ba468
4 changed files with 203 additions and 443 deletions
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45
src/peds/Ped.cpp
View file

@ -2522,40 +2522,23 @@ CPed::CalculateNewVelocity(void)
if ((!idleAssoc || idleAssoc->blendAmount < 0.5f) && !fightAssoc) {
#endif
LimbOrientation newUpperLegs;
newUpperLegs.phi = localWalkAngle;
newUpperLegs.yaw = localWalkAngle;
if (newUpperLegs.phi < -DEGTORAD(100.0f)) {
newUpperLegs.phi += PI;
} else if (newUpperLegs.phi > DEGTORAD(100.0f)) {
newUpperLegs.phi -= PI;
if (newUpperLegs.yaw < -DEGTORAD(100.0f)) {
newUpperLegs.yaw += PI;
} else if (newUpperLegs.yaw > DEGTORAD(100.0f)) {
newUpperLegs.yaw -= PI;
}
if (newUpperLegs.phi > -DEGTORAD(50.0f) && newUpperLegs.phi < DEGTORAD(50.0f)) {
#ifdef PED_SKIN
if(IsClumpSkinned(GetClump())){
/*
// this looks shit
newUpperLegs.theta = 0.0f;
RwV3d axis = { -1.0f, 0.0f, 0.0f };
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.phi), rwCOMBINEPRECONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.phi), rwCOMBINEPRECONCAT);
*/
newUpperLegs.theta = 0.1f;
RwV3d Xaxis = { 1.0f, 0.0f, 0.0f };
RwV3d Zaxis = { 0.0f, 0.0f, 1.0f };
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.theta), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.phi), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.theta), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.phi), rwCOMBINEPOSTCONCAT);
bDontAcceptIKLookAts = true;
}else
#endif
{
newUpperLegs.theta = 0.0f;
m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGL], &newUpperLegs, false);
m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGR], &newUpperLegs, false);
}
if (newUpperLegs.yaw > -DEGTORAD(50.0f) && newUpperLegs.yaw < DEGTORAD(50.0f)) {
newUpperLegs.pitch = 0.1f;
RwV3d Xaxis = { 1.0f, 0.0f, 0.0f };
RwV3d Zaxis = { 0.0f, 0.0f, 1.0f };
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.pitch), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.pitch), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPOSTCONCAT);
bDontAcceptIKLookAts = true;
}
}
}

40
src/peds/Ped.h
View file

@ -833,39 +833,19 @@ public:
// Using this to abstract nodes of skinned and non-skinned meshes
CVector GetNodePosition(int32 node)
{
#ifdef PED_SKIN
if(IsClumpSkinned(GetClump())){
RwV3d pos = { 0.0f, 0.0f, 0.0f };
RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(GetClump());
int32 idx = RpHAnimIDGetIndex(hier, m_pFrames[node]->nodeID);
RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
// this is just stupid
//RwV3dTransformPoints(&pos, &pos, 1, &mats[idx]);
pos = mats[idx].pos;
return pos;
}else
#endif
{
RwMatrix mat;
CPedIK::GetWorldMatrix(m_pFrames[node]->frame, &mat);
return mat.pos;
}
RwV3d pos = { 0.0f, 0.0f, 0.0f };
RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(GetClump());
int32 idx = RpHAnimIDGetIndex(hier, m_pFrames[node]->nodeID);
RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
pos = mats[idx].pos;
return pos;
}
void TransformToNode(CVector &pos, int32 node)
{
#ifdef PED_SKIN
if(IsClumpSkinned(GetClump())){
RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(GetClump());
int32 idx = RpHAnimIDGetIndex(hier, m_pFrames[node]->nodeID);
RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
RwV3dTransformPoints((RwV3d*)&pos, (RwV3d*)&pos, 1, &mats[idx]);
}else
#endif
{
RwFrame *frame;
for (frame = m_pFrames[node]->frame; frame; frame = RwFrameGetParent(frame))
RwV3dTransformPoints((RwV3d*)&pos, (RwV3d*)&pos, 1, RwFrameGetMatrix(frame));
}
RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(GetClump());
int32 idx = RpHAnimIDGetIndex(hier, m_pFrames[node]->nodeID);
RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
RwV3dTransformPoints((RwV3d*)&pos, (RwV3d*)&pos, 1, &mats[idx]);
}
// set by 0482:set_threat_reaction_range_multiplier opcode

547
src/peds/PedIK.cpp
View file

@ -7,11 +7,13 @@
#include "General.h"
#include "RwHelper.h"
LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(7.0f) };
LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
//--MIAMI: file almost done (only some special weapon cases left)
LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(8.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(8.0f) };
LimbMovementInfo CPedIK::ms_headRestoreInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(20.0f), DEGTORAD(-100.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(10.0f) };
LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(80.0f), DEGTORAD(0.0f), DEGTORAD(20.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(5.0f) };
LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(5.0f), DEGTORAD(-120.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(20.0f) };
LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(60.0f), DEGTORAD(0.0f), DEGTORAD(15.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f) };
const RwV3d XaxisIK = { 1.0f, 0.0f, 0.0f};
const RwV3d YaxisIK = { 0.0f, 1.0f, 0.0f};
@ -21,17 +23,16 @@ CPedIK::CPedIK(CPed *ped)
{
m_ped = ped;
m_flags = 0;
m_headOrient.phi = 0.0f;
m_headOrient.theta = 0.0f;
m_torsoOrient.phi = 0.0f;
m_torsoOrient.theta = 0.0f;
m_upperArmOrient.phi = 0.0f;
m_upperArmOrient.theta = 0.0f;
m_lowerArmOrient.phi = 0.0f;
m_lowerArmOrient.theta = 0.0f;
m_headOrient.yaw = 0.0f;
m_headOrient.pitch = 0.0f;
m_torsoOrient.yaw = 0.0f;
m_torsoOrient.pitch = 0.0f;
m_upperArmOrient.yaw = 0.0f;
m_upperArmOrient.pitch = 0.0f;
m_lowerArmOrient.yaw = 0.0f;
m_lowerArmOrient.pitch = 0.0f;
}
#ifdef PED_SKIN
inline RwMatrix*
GetBoneMatrix(CPed *ped, int32 bone)
{
@ -45,174 +46,60 @@ GetComponentMatrix(CPed *ped, int32 node)
{
return GetBoneMatrix(ped, ped->m_pFrames[node]->nodeID);
}
#endif
void
CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool changeRoll)
{
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
RtQuat *q = &node->hanimFrame->q;
#ifndef FIX_BUGS
// this is what the game does (also VC), but it does not look great
RtQuatRotate(q, &XaxisIK, RADTODEG(limb->phi), rwCOMBINEPRECONCAT);
RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->theta), rwCOMBINEPRECONCAT); // pitch
#else
// copied the code from the non-skinned case
// this seems to work ok
// We can't get the parent matrix of an hanim frame but
// this function is always called with PED_MID, so we know the parent frame.
// Trouble is that PED_MID is "Smid" on PS2/PC but BONE_torso on mobile/xbox...
// so this doesn't exactly do what we'd like anyway
RwMatrix* mat = GetComponentMatrix(m_ped, PED_MID);
RwV3d vec1, vec2;
vec1.x = mat->right.z;
vec1.y = mat->up.z;
vec1.z = mat->at.z;
float c = Cos(m_ped->m_fRotationCur);
float s = Sin(m_ped->m_fRotationCur);
vec2.x = -(c*mat->right.x + s*mat->right.y);
vec2.y = -(c*mat->up.x + s*mat->up.y);
vec2.z = -(c*mat->at.x + s*mat->at.y);
// Not sure what exactly to do here
RtQuatRotate(q, &vec1, RADTODEG(limb->phi), rwCOMBINEPRECONCAT);
RtQuatRotate(q, &vec2, RADTODEG(limb->theta), rwCOMBINEPRECONCAT);
#endif
m_ped->bDontAcceptIKLookAts = true;
}else
#endif
{
RwFrame *f = node->frame;
RwMatrix *mat = GetWorldMatrix(RwFrameGetParent(f), RwMatrixCreate());
RwV3d upVector = { mat->right.z, mat->up.z, mat->at.z };
RwV3d rightVector;
RwV3d pos = RwFrameGetMatrix(f)->pos;
// rotation == 0 -> looking in y direction
// left? vector
float c = Cos(m_ped->m_fRotationCur);
float s = Sin(m_ped->m_fRotationCur);
rightVector.x = -(c*mat->right.x + s*mat->right.y);
rightVector.y = -(c*mat->up.x + s*mat->up.y);
rightVector.z = -(c*mat->at.x + s*mat->at.y);
if(changeRoll){
// Used when aiming only involves over the legs.(canAimWithArm)
// Automatically changes roll(forward rotation) axis of the parts above upper legs while moving, based on position of upper legs.
// Not noticeable in normal conditions...
RwV3d forwardVector;
CVector inversedForward = CrossProduct(CVector(0.0f, 0.0f, 1.0f), mat->up);
inversedForward.Normalise();
float dotProduct = DotProduct(mat->at, inversedForward);
if(dotProduct > 1.0f) dotProduct = 1.0f;
if(dotProduct < -1.0f) dotProduct = -1.0f;
float alpha = Acos(dotProduct);
if(mat->at.z < 0.0f)
alpha = -alpha;
forwardVector.x = s * mat->right.x - c * mat->right.y;
forwardVector.y = s * mat->up.x - c * mat->up.y;
forwardVector.z = s * mat->at.x - c * mat->at.y;
float curYaw, curPitch;
ExtractYawAndPitchWorld(mat, &curYaw, &curPitch);
RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi - (curYaw - m_ped->m_fRotationCur)), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(f), &forwardVector, RADTODEG(alpha), rwCOMBINEPOSTCONCAT);
}else{
// pitch
RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT);
// yaw
RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi), rwCOMBINEPOSTCONCAT);
}
RwFrameGetMatrix(f)->pos = pos;
RwMatrixDestroy(mat);
}
RtQuat *q = &node->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, RADTODEG(limb->yaw), rwCOMBINEREPLACE);
RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->pitch), rwCOMBINEPRECONCAT);
m_ped->bDontAcceptIKLookAts = true;
}
void
CPedIK::GetComponentPosition(RwV3d *pos, uint32 node)
{
RwFrame *f;
RwMatrix *mat;
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
pos->x = 0.0f;
pos->y = 0.0f;
pos->z = 0.0f;
mat = GetComponentMatrix(m_ped, node);
// could just copy the position out of the matrix...
RwV3dTransformPoints(pos, pos, 1, mat);
}else
#endif
{
f = m_ped->m_pFrames[node]->frame;
mat = RwFrameGetMatrix(f);
*pos = mat->pos;
for (f = RwFrameGetParent(f); f; f = RwFrameGetParent(f))
RwV3dTransformPoints(pos, pos, 1, RwFrameGetMatrix(f));
}
}
RwMatrix*
CPedIK::GetWorldMatrix(RwFrame *source, RwMatrix *destination)
{
RwFrame *i;
*destination = *RwFrameGetMatrix(source);
for (i = RwFrameGetParent(source); i; i = RwFrameGetParent(i))
RwMatrixTransform(destination, RwFrameGetMatrix(i), rwCOMBINEPOSTCONCAT);
return destination;
*pos = GetComponentMatrix(m_ped, node)->pos;
}
LimbMoveStatus
CPedIK::MoveLimb(LimbOrientation &limb, float approxPhi, float approxTheta, LimbMovementInfo &moveInfo)
CPedIK::MoveLimb(LimbOrientation &limb, float targetYaw, float targetPitch, LimbMovementInfo &moveInfo)
{
LimbMoveStatus result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
// phi
// yaw
if (limb.phi > approxPhi) {
limb.phi -= moveInfo.yawD;
} else if (limb.phi < approxPhi) {
limb.phi += moveInfo.yawD;
}
if (Abs(limb.phi - approxPhi) < moveInfo.yawD) {
limb.phi = approxPhi;
if(Abs(limb.yaw-targetYaw) < moveInfo.yawD){
limb.yaw = targetYaw;
result = ANGLES_SET_EXACTLY;
}else{
if (limb.yaw > targetYaw) {
limb.yaw -= moveInfo.yawD;
} else if (limb.yaw < targetYaw) {
limb.yaw += moveInfo.yawD;
}
}
if (limb.phi > moveInfo.maxYaw || limb.phi < moveInfo.minYaw) {
limb.phi = clamp(limb.phi, moveInfo.minYaw, moveInfo.maxYaw);
if (limb.yaw > moveInfo.maxYaw || limb.yaw < moveInfo.minYaw) {
limb.yaw = clamp(limb.yaw, moveInfo.minYaw, moveInfo.maxYaw);
result = ANGLES_SET_TO_MAX;
}
// theta
// pitch
if (limb.theta > approxTheta) {
limb.theta -= moveInfo.pitchD;
} else if (limb.theta < approxTheta) {
limb.theta += moveInfo.pitchD;
if (Abs(limb.pitch - targetPitch) < moveInfo.pitchD){
limb.pitch = targetPitch;
}else{
if (limb.pitch > targetPitch) {
limb.pitch -= moveInfo.pitchD;
} else if (limb.pitch < targetPitch) {
limb.pitch += moveInfo.pitchD;
}
result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
}
if (Abs(limb.theta - approxTheta) < moveInfo.pitchD)
limb.theta = approxTheta;
else
result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
if (limb.theta > moveInfo.maxPitch || limb.theta < moveInfo.minPitch) {
limb.theta = clamp(limb.theta, moveInfo.minPitch, moveInfo.maxPitch);
if (limb.pitch > moveInfo.maxPitch || limb.pitch < moveInfo.minPitch) {
limb.pitch = clamp(limb.pitch, moveInfo.minPitch, moveInfo.maxPitch);
result = ANGLES_SET_TO_MAX;
}
return result;
@ -226,259 +113,189 @@ CPedIK::RestoreGunPosn(void)
return limbStatus == ANGLES_SET_EXACTLY;
}
#ifdef PED_SKIN
void
CPedIK::RotateHead(void)
{
RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.phi), rwCOMBINEREPLACE);
RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.theta), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true;
}
#endif
bool
CPedIK::LookInDirection(float phi, float theta)
CPedIK::LookInDirection(float targetYaw, float targetPitch)
{
bool success = true;
float yaw, pitch;
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &m_headOrient.phi, &m_headOrient.theta);
}
// parent of head is torso
RwMatrix worldMat = *GetComponentMatrix(m_ped, PED_NECK);
ExtractYawAndPitchWorld(&worldMat, &yaw, &pitch);
LimbMoveStatus headStatus = MoveLimb(m_headOrient, CGeneral::LimitRadianAngle(phi - yaw),
CGeneral::LimitRadianAngle(DEGTORAD(10.0f)), ms_headInfo);
if (headStatus == ANGLES_SET_TO_MAX)
success = false;
if (headStatus != ANGLES_SET_EXACTLY){
if (!(m_flags & LOOKAROUND_HEAD_ONLY)){
if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(phi), theta, ms_torsoInfo))
success = true;
}else{
RotateHead();
return success;
}
}
if (!(m_flags & LOOKAROUND_HEAD_ONLY))
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
RotateHead();
}else
#endif
{
RwFrame *frame = m_ped->m_pFrames[PED_HEAD]->frame;
RwMatrix *frameMat = RwFrameGetMatrix(frame);
if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
ExtractYawAndPitchLocal(frameMat, &m_headOrient.phi, &m_headOrient.theta);
}
RwMatrix *worldMat = RwMatrixCreate();
worldMat = GetWorldMatrix(RwFrameGetParent(frame), worldMat);
ExtractYawAndPitchWorld(worldMat, &yaw, &pitch);
RwMatrixDestroy(worldMat);
yaw += m_torsoOrient.phi;
float neededPhiTurn = CGeneral::LimitRadianAngle(phi - yaw);
pitch *= Cos(neededPhiTurn);
float neededThetaTurn = CGeneral::LimitRadianAngle(theta - pitch);
LimbMoveStatus headStatus = MoveLimb(m_headOrient, neededPhiTurn, neededThetaTurn, ms_headInfo);
if (headStatus == ANGLES_SET_TO_MAX)
success = false;
if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY)) {
float remainingTurn = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur);
if (MoveLimb(m_torsoOrient, remainingTurn, theta, ms_torsoInfo))
success = true;
}
CMatrix nextFrame = CMatrix(frameMat);
CVector framePos = nextFrame.GetPosition();
nextFrame.SetRotateZ(m_headOrient.theta);
nextFrame.RotateX(m_headOrient.phi);
nextFrame.GetPosition() += framePos;
nextFrame.UpdateRW();
if (!(m_flags & LOOKAROUND_HEAD_ONLY))
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
RwMatrix *m = GetComponentMatrix(m_ped, PED_NECK);
m_headOrient.yaw = Atan2(-m->at.y, -m->at.x);
m_headOrient.yaw -= m_ped->m_fRotationCur;
m_headOrient.yaw = CGeneral::LimitRadianAngle(m_headOrient.yaw);
float up = clamp(m->up.z, -1.0f, 1.0f);
m_headOrient.pitch = Atan2(-up, Sqrt(1.0f - SQR(-up)));
}
// parent of head is neck
RwMatrix *m = GetComponentMatrix(m_ped, PED_NECK);
yaw = CGeneral::LimitRadianAngle(Atan2(-m->at.y, -m->at.x));
float up = clamp(m->up.z, -1.0f, 1.0f);
pitch = Atan2(-up, Sqrt(1.0f - SQR(-up)));
float headYaw = CGeneral::LimitRadianAngle(targetYaw - (yaw + m_torsoOrient.yaw));
float headPitch = CGeneral::LimitRadianAngle(targetPitch - pitch) * Cos(Min(Abs(headYaw), HALFPI));
LimbMoveStatus headStatus = MoveLimb(m_headOrient, headYaw, headPitch, ms_headInfo);
if (headStatus == ANGLES_SET_TO_MAX)
success = false;
if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY))
if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(targetYaw-m_ped->m_fRotationCur), targetPitch, ms_torsoInfo))
success = true;
// This was RotateHead
RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEREPLACE);
RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEPRECONCAT);
m_ped->bDontAcceptIKLookAts = true;
if (!(m_flags & LOOKAROUND_HEAD_ONLY))
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
return success;
}
bool
CPedIK::LookAtPosition(CVector const &pos)
{
float phiToFace = CGeneral::GetRadianAngleBetweenPoints(
RwV3d *pedpos = &GetComponentMatrix(m_ped, PED_MID)->pos;
float yawToFace = CGeneral::GetRadianAngleBetweenPoints(
pos.x, pos.y,
m_ped->GetPosition().x, m_ped->GetPosition().y);
pedpos->x, pedpos->y);
float thetaToFace = CGeneral::GetRadianAngleBetweenPoints(
float pitchToFace = CGeneral::GetRadianAngleBetweenPoints(
// BUG? not using pedpos here
pos.z, (m_ped->GetPosition() - pos).Magnitude2D(),
m_ped->GetPosition().z, 0.0f);
pedpos->z, 0.0f);
return LookInDirection(phiToFace, thetaToFace);
return LookInDirection(yawToFace, pitchToFace);
}
bool
CPedIK::PointGunInDirection(float phi, float theta)
CPedIK::PointGunInDirection(float targetYaw, float targetPitch)
{
bool result = true;
bool armPointedToGun = false;
float angle = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur);
m_flags &= (~GUN_POINTED_SUCCESSFULLY);
targetYaw = CGeneral::LimitRadianAngle(targetYaw - m_ped->GetForward().Heading());
m_flags &= ~GUN_POINTED_SUCCESSFULLY;
m_flags |= LOOKAROUND_HEAD_ONLY;
if (m_flags & AIMS_WITH_ARM) {
armPointedToGun = PointGunInDirectionUsingArm(angle, theta);
angle = CGeneral::LimitRadianAngle(angle - m_upperArmOrient.phi);
armPointedToGun = PointGunInDirectionUsingArm(targetYaw, targetPitch);
targetYaw = CGeneral::LimitRadianAngle(targetYaw - (m_upperArmOrient.yaw + m_lowerArmOrient.yaw));
}
if (armPointedToGun) {
if (m_flags & AIMS_WITH_ARM && m_torsoOrient.phi * m_upperArmOrient.phi < 0.0f)
MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.theta, ms_torsoInfo);
if (m_flags & AIMS_WITH_ARM && m_torsoOrient.yaw * m_upperArmOrient.yaw < 0.0f)
MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.pitch, ms_torsoInfo);
} else {
// Unused code
RwMatrix *matrix;
float yaw, pitch;
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
matrix = RwMatrixCreate();
*matrix = *GetComponentMatrix(m_ped, PED_UPPERARMR);
ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
RwMatrixDestroy(matrix);
}else
#endif
{
matrix = GetWorldMatrix(RwFrameGetParent(m_ped->m_pFrames[PED_UPPERARMR]->frame), RwMatrixCreate());
ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
RwMatrixDestroy(matrix);
}
//
matrix = RwMatrixCreate();
*matrix = *GetComponentMatrix(m_ped, PED_CLAVICLER);
ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
RwMatrixDestroy(matrix);
LimbMoveStatus status = MoveLimb(m_torsoOrient, angle, theta, ms_torsoInfo);
if(m_flags & AIMS_WITH_ARM){
if(targetPitch > 0.0f)
targetPitch = Max(targetPitch - Abs(targetYaw), 0.0f);
else
targetPitch = Min(targetPitch + Abs(targetYaw), 0.0f);
}
LimbMoveStatus status = MoveLimb(m_torsoOrient, targetYaw, targetPitch, ms_torsoInfo);
if (status == ANGLES_SET_TO_MAX)
result = false;
else if (status == ANGLES_SET_EXACTLY)
m_flags |= GUN_POINTED_SUCCESSFULLY;
}
if (TheCamera.Cams[TheCamera.ActiveCam].Using3rdPersonMouseCam() && m_flags & AIMS_WITH_ARM)
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, true);
else
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
RwMatrix *m = GetBoneMatrix(m_ped, BONE_spine); // BUG: game uses index 2 directly, which happens to be identical to BONE_spine
RwV3d axis = { 0.0f, 0.0f, 0.0f };
float axisangle = -CGeneral::LimitRadianAngle(Atan2(-m->at.y, -m->at.x) - m_ped->m_fRotationCur);
axis.y = -Sin(axisangle);
axis.z = Cos(axisangle);
// this was RotateTorso
RtQuat *q = &m_ped->m_pFrames[PED_MID]->hanimFrame->q;
RtQuatRotate(q, &axis, RADTODEG(m_torsoOrient.pitch), rwCOMBINEPOSTCONCAT);
RtQuatRotate(q, &XaxisIK, RADTODEG(m_torsoOrient.yaw), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true;
return result;
}
bool
CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
CPedIK::PointGunInDirectionUsingArm(float targetYaw, float targetPitch)
{
bool result = false;
RwV3d upVector; // only for non-skinned
RwMatrix *matrix;
float yaw, pitch;
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
matrix = RwMatrixCreate();
*matrix = *GetComponentMatrix(m_ped, PED_UPPERARMR);
ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
RwMatrixDestroy(matrix);
}else
#endif
{
RwFrame *frame = m_ped->m_pFrames[PED_UPPERARMR]->frame;
matrix = GetWorldMatrix(RwFrameGetParent(frame), RwMatrixCreate());
// with PED_SKIN this is actually done below (with a memory leak)
upVector.x = matrix->right.z;
upVector.y = matrix->up.z;
upVector.z = matrix->at.z;
float uaRoll = 45.0f;
float handRoll = 30.0f;
ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
RwMatrixDestroy(matrix);
}
matrix = GetComponentMatrix(m_ped, PED_CLAVICLER);
yaw = CGeneral::LimitRadianAngle(Atan2(matrix->right.y, matrix->right.x) - m_ped->m_fRotationCur);
pitch = Atan2(matrix->up.z, Sqrt(1.0f - SQR(matrix->up.z)));
RwV3d rightVector = { 0.0f, 0.0f, 1.0f };
RwV3d forwardVector = { 1.0f, 0.0f, 0.0f };
float uaPhi, uaTheta;
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
uaPhi = phi;
uaTheta = theta + DEGTORAD(10.0f);
}else
#endif
{
uaPhi = phi - m_torsoOrient.phi - DEGTORAD(15.0f);
uaTheta = CGeneral::LimitRadianAngle(theta - pitch);
}
LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaPhi, uaTheta, ms_upperArmInfo);
float uaYaw, uaPitch;
uaYaw = CGeneral::LimitRadianAngle(targetYaw - yaw - DEGTORAD(15.0f));
uaPitch = CGeneral::LimitRadianAngle(targetPitch - pitch + DEGTORAD(10.0f));
LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaYaw, uaPitch, ms_upperArmInfo);
if (uaStatus == ANGLES_SET_EXACTLY) {
m_flags |= GUN_POINTED_SUCCESSFULLY;
result = true;
}
#ifdef PED_SKIN
// this code is completely missing on xbox & android, but we can keep it with the check
// TODO? implement it for skinned geometry?
if(!IsClumpSkinned(m_ped->GetClump()))
#endif
if (uaStatus == ANGLES_SET_TO_MAX) {
float laPhi = uaPhi - m_upperArmOrient.phi;
float laYaw = uaYaw - m_upperArmOrient.yaw;
LimbMoveStatus laStatus;
if (laPhi > 0.0f)
laStatus = MoveLimb(m_lowerArmOrient, laPhi, -DEGTORAD(45.0f), ms_lowerArmInfo);
else
laStatus = MoveLimb(m_lowerArmOrient, laPhi, 0.0f, ms_lowerArmInfo);
if (laYaw > 0.0f){
float rollReduce = laYaw/DEGTORAD(30.0f);
uaRoll *= 1.0f - Min(rollReduce, 1.0f);
handRoll *= 1.0f - Min(rollReduce, 1.0f);
laYaw *= 1.9f;
laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
// some unused statics here
float uaPitchAmount = 1.0f - (m_lowerArmOrient.yaw + m_upperArmOrient.yaw) * 0.34f;
float f1 = ms_upperArmInfo.maxPitch * Max(uaPitchAmount, 0.0f);
float f2 = 0.2f*m_lowerArmOrient.yaw + m_upperArmOrient.pitch;
m_upperArmOrient.pitch = Min(f1, f2);
}else
laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
if (laStatus == ANGLES_SET_EXACTLY) {
m_flags |= GUN_POINTED_SUCCESSFULLY;
result = true;
}
RwFrame *child = GetFirstChild(m_ped->m_pFrames[PED_UPPERARMR]->frame);
RwV3d pos = RwFrameGetMatrix(child)->pos;
RwMatrixRotate(RwFrameGetMatrix(child), &forwardVector, RADTODEG(m_lowerArmOrient.theta), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(child), &rightVector, RADTODEG(-m_lowerArmOrient.phi), rwCOMBINEPOSTCONCAT);
RwFrameGetMatrix(child)->pos = pos;
// game does this stupidly by going through the clump extension...
RtQuat *q = &m_ped->m_pFrames[PED_FOREARMR]->hanimFrame->q;
RtQuatRotate(q, &ZaxisIK, -RADTODEG(m_lowerArmOrient.yaw), rwCOMBINEREPLACE);
RtQuatRotate(q, &XaxisIK, -RADTODEG(m_lowerArmOrient.pitch), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true;
}
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, RADTODEG(m_upperArmOrient.phi), rwCOMBINEPOSTCONCAT);
RtQuatRotate(q, &ZaxisIK, RADTODEG(m_upperArmOrient.theta), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true;
}else
#endif
{
RwFrame *frame = m_ped->m_pFrames[PED_UPPERARMR]->frame;
// with PED_SKIN we're also getting upVector here
RwV3d pos = RwFrameGetMatrix(frame)->pos;
RwMatrixRotate(RwFrameGetMatrix(frame), &rightVector, RADTODEG(m_upperArmOrient.theta), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(frame), &upVector, RADTODEG(m_upperArmOrient.phi), rwCOMBINEPOSTCONCAT);
RwFrameGetMatrix(frame)->pos = pos;
}
RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, uaRoll, rwCOMBINEREPLACE);
RtQuatRotate(q, &YaxisIK, -RADTODEG(m_upperArmOrient.pitch), rwCOMBINEPOSTCONCAT);
RtQuatRotate(q, &ZaxisIK, -RADTODEG(m_upperArmOrient.yaw+HALFPI), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true;
q = &m_ped->m_pFrames[PED_HANDR]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, handRoll, rwCOMBINEPRECONCAT);
return result;
}
bool
CPedIK::PointGunAtPosition(CVector const& position)
{
// TODO(MIAMI): special cases for some weapons
return PointGunInDirection(
CGeneral::GetRadianAngleBetweenPoints(position.x, position.y, m_ped->GetPosition().x, m_ped->GetPosition().y),
CGeneral::GetRadianAngleBetweenPoints(position.z, Distance2D(m_ped->GetPosition(), position.x, position.y),
m_ped->GetPosition().z,
0.0f));
CGeneral::GetRadianAngleBetweenPoints(position.z, Distance2D(m_ped->GetPosition(), position.x, position.y), m_ped->GetPosition().z, 0.0f));
}
bool
@ -487,40 +304,24 @@ CPedIK::RestoreLookAt(void)
bool result = false;
float yaw, pitch;
#ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){
if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
} else {
ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &yaw, &pitch);
if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
result = true;
}
RotateHead();
}else
#endif
{
RwMatrix *mat = RwFrameGetMatrix(m_ped->m_pFrames[PED_HEAD]->frame);
if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
} else {
ExtractYawAndPitchLocal(mat, &yaw, &pitch);
if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
result = true;
}
if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
} else {
ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &yaw, &pitch);
if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
result = true;
}
CMatrix matrix(mat);
CVector pos = matrix.GetPosition();
matrix.SetRotateZ(m_headOrient.theta);
matrix.RotateX(m_headOrient.phi);
matrix.Translate(pos);
matrix.UpdateRW();
}
if (!(m_flags & LOOKAROUND_HEAD_ONLY)){
// This was RotateHead
RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEREPLACE);
RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEPRECONCAT);
m_ped->bDontAcceptIKLookAts = true;
if (!(m_flags & LOOKAROUND_HEAD_ONLY))
MoveLimb(m_torsoOrient, 0.0f, 0.0f, ms_torsoInfo);
if (!(m_flags & LOOKAROUND_HEAD_ONLY))
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
}
if (!(m_flags & LOOKAROUND_HEAD_ONLY))
RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
return result;
}
@ -548,7 +349,6 @@ CPedIK::ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch)
if (mat->up.x > 0.0f) *pitch = -*pitch;
}
#ifdef PED_SKIN
void
CPedIK::ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, float *pitch)
{
@ -557,4 +357,3 @@ CPedIK::ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, flo
ExtractYawAndPitchLocal(mat, yaw, pitch);
RwMatrixDestroy(mat);
}
#endif

14
src/peds/PedIK.h
View file

@ -4,8 +4,8 @@
struct LimbOrientation
{
float phi;
float theta;
float yaw;
float pitch;
};
struct LimbMovementInfo {
@ -48,19 +48,17 @@ public:
static LimbMovementInfo ms_lowerArmInfo;
CPedIK(CPed *ped);
bool PointGunInDirection(float phi, float theta);
bool PointGunInDirectionUsingArm(float phi, float theta);
bool PointGunInDirection(float targetYaw, float targetPitch);
bool PointGunInDirectionUsingArm(float targetYaw, float targetPitch);
bool PointGunAtPosition(CVector const& position);
void GetComponentPosition(RwV3d *pos, uint32 node);
static RwMatrix *GetWorldMatrix(RwFrame *source, RwMatrix *destination);
void RotateTorso(AnimBlendFrameData* animBlend, LimbOrientation* limb, bool changeRoll);
void ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch);
void ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, float *pitch);
void ExtractYawAndPitchWorld(RwMatrix *mat, float *yaw, float *pitch);
LimbMoveStatus MoveLimb(LimbOrientation &limb, float approxPhi, float approxTheta, LimbMovementInfo &moveInfo);
LimbMoveStatus MoveLimb(LimbOrientation &limb, float targetYaw, float targetPitch, LimbMovementInfo &moveInfo);
bool RestoreGunPosn(void);
void RotateHead(void);
bool LookInDirection(float phi, float theta);
bool LookInDirection(float targetYaw, float targetPitch);
bool LookAtPosition(CVector const& pos);
bool RestoreLookAt(void);
};