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CPedIK
This commit is contained in:
aap
parent
ede6b7db6a
commit
1fde2ba468
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@ -2522,40 +2522,23 @@ CPed::CalculateNewVelocity(void)
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if ((!idleAssoc || idleAssoc->blendAmount < 0.5f) && !fightAssoc) {
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#endif
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LimbOrientation newUpperLegs;
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newUpperLegs.phi = localWalkAngle;
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newUpperLegs.yaw = localWalkAngle;
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if (newUpperLegs.phi < -DEGTORAD(100.0f)) {
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newUpperLegs.phi += PI;
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} else if (newUpperLegs.phi > DEGTORAD(100.0f)) {
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newUpperLegs.phi -= PI;
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if (newUpperLegs.yaw < -DEGTORAD(100.0f)) {
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newUpperLegs.yaw += PI;
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} else if (newUpperLegs.yaw > DEGTORAD(100.0f)) {
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newUpperLegs.yaw -= PI;
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}
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if (newUpperLegs.phi > -DEGTORAD(50.0f) && newUpperLegs.phi < DEGTORAD(50.0f)) {
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#ifdef PED_SKIN
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if(IsClumpSkinned(GetClump())){
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/*
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// this looks shit
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newUpperLegs.theta = 0.0f;
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RwV3d axis = { -1.0f, 0.0f, 0.0f };
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RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.phi), rwCOMBINEPRECONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.phi), rwCOMBINEPRECONCAT);
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*/
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newUpperLegs.theta = 0.1f;
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if (newUpperLegs.yaw > -DEGTORAD(50.0f) && newUpperLegs.yaw < DEGTORAD(50.0f)) {
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newUpperLegs.pitch = 0.1f;
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RwV3d Xaxis = { 1.0f, 0.0f, 0.0f };
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RwV3d Zaxis = { 0.0f, 0.0f, 1.0f };
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RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.theta), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.phi), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.theta), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.phi), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.pitch), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.pitch), rwCOMBINEPOSTCONCAT);
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RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPOSTCONCAT);
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bDontAcceptIKLookAts = true;
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}else
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#endif
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{
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newUpperLegs.theta = 0.0f;
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m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGL], &newUpperLegs, false);
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m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGR], &newUpperLegs, false);
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}
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}
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}
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}
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@ -833,39 +833,19 @@ public:
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// Using this to abstract nodes of skinned and non-skinned meshes
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CVector GetNodePosition(int32 node)
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{
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#ifdef PED_SKIN
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if(IsClumpSkinned(GetClump())){
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RwV3d pos = { 0.0f, 0.0f, 0.0f };
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RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(GetClump());
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int32 idx = RpHAnimIDGetIndex(hier, m_pFrames[node]->nodeID);
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RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
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// this is just stupid
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//RwV3dTransformPoints(&pos, &pos, 1, &mats[idx]);
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pos = mats[idx].pos;
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return pos;
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}else
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#endif
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{
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RwMatrix mat;
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CPedIK::GetWorldMatrix(m_pFrames[node]->frame, &mat);
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return mat.pos;
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}
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}
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void TransformToNode(CVector &pos, int32 node)
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{
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#ifdef PED_SKIN
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if(IsClumpSkinned(GetClump())){
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RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(GetClump());
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int32 idx = RpHAnimIDGetIndex(hier, m_pFrames[node]->nodeID);
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RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
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RwV3dTransformPoints((RwV3d*)&pos, (RwV3d*)&pos, 1, &mats[idx]);
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}else
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#endif
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{
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RwFrame *frame;
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for (frame = m_pFrames[node]->frame; frame; frame = RwFrameGetParent(frame))
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RwV3dTransformPoints((RwV3d*)&pos, (RwV3d*)&pos, 1, RwFrameGetMatrix(frame));
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}
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}
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// set by 0482:set_threat_reaction_range_multiplier opcode
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@ -7,11 +7,13 @@
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#include "General.h"
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#include "RwHelper.h"
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LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(7.0f) };
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LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
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//--MIAMI: file almost done (only some special weapon cases left)
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LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(8.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
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LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(8.0f) };
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LimbMovementInfo CPedIK::ms_headRestoreInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
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LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(20.0f), DEGTORAD(-100.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(10.0f) };
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LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(80.0f), DEGTORAD(0.0f), DEGTORAD(20.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(5.0f) };
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LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(5.0f), DEGTORAD(-120.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(20.0f) };
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LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(60.0f), DEGTORAD(0.0f), DEGTORAD(15.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f) };
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const RwV3d XaxisIK = { 1.0f, 0.0f, 0.0f};
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const RwV3d YaxisIK = { 0.0f, 1.0f, 0.0f};
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@ -21,17 +23,16 @@ CPedIK::CPedIK(CPed *ped)
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{
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m_ped = ped;
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m_flags = 0;
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m_headOrient.phi = 0.0f;
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m_headOrient.theta = 0.0f;
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m_torsoOrient.phi = 0.0f;
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m_torsoOrient.theta = 0.0f;
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m_upperArmOrient.phi = 0.0f;
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m_upperArmOrient.theta = 0.0f;
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m_lowerArmOrient.phi = 0.0f;
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m_lowerArmOrient.theta = 0.0f;
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m_headOrient.yaw = 0.0f;
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m_headOrient.pitch = 0.0f;
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m_torsoOrient.yaw = 0.0f;
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m_torsoOrient.pitch = 0.0f;
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m_upperArmOrient.yaw = 0.0f;
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m_upperArmOrient.pitch = 0.0f;
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m_lowerArmOrient.yaw = 0.0f;
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m_lowerArmOrient.pitch = 0.0f;
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}
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#ifdef PED_SKIN
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inline RwMatrix*
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GetBoneMatrix(CPed *ped, int32 bone)
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{
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@ -45,174 +46,60 @@ GetComponentMatrix(CPed *ped, int32 node)
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{
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return GetBoneMatrix(ped, ped->m_pFrames[node]->nodeID);
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}
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#endif
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void
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CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool changeRoll)
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{
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#ifdef PED_SKIN
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if(IsClumpSkinned(m_ped->GetClump())){
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RtQuat *q = &node->hanimFrame->q;
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#ifndef FIX_BUGS
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// this is what the game does (also VC), but it does not look great
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RtQuatRotate(q, &XaxisIK, RADTODEG(limb->phi), rwCOMBINEPRECONCAT);
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RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->theta), rwCOMBINEPRECONCAT); // pitch
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#else
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// copied the code from the non-skinned case
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// this seems to work ok
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// We can't get the parent matrix of an hanim frame but
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// this function is always called with PED_MID, so we know the parent frame.
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// Trouble is that PED_MID is "Smid" on PS2/PC but BONE_torso on mobile/xbox...
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// so this doesn't exactly do what we'd like anyway
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RwMatrix* mat = GetComponentMatrix(m_ped, PED_MID);
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RwV3d vec1, vec2;
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vec1.x = mat->right.z;
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vec1.y = mat->up.z;
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vec1.z = mat->at.z;
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float c = Cos(m_ped->m_fRotationCur);
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float s = Sin(m_ped->m_fRotationCur);
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vec2.x = -(c*mat->right.x + s*mat->right.y);
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vec2.y = -(c*mat->up.x + s*mat->up.y);
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vec2.z = -(c*mat->at.x + s*mat->at.y);
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// Not sure what exactly to do here
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RtQuatRotate(q, &vec1, RADTODEG(limb->phi), rwCOMBINEPRECONCAT);
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RtQuatRotate(q, &vec2, RADTODEG(limb->theta), rwCOMBINEPRECONCAT);
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#endif
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RtQuatRotate(q, &XaxisIK, RADTODEG(limb->yaw), rwCOMBINEREPLACE);
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RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->pitch), rwCOMBINEPRECONCAT);
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m_ped->bDontAcceptIKLookAts = true;
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}else
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#endif
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{
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RwFrame *f = node->frame;
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RwMatrix *mat = GetWorldMatrix(RwFrameGetParent(f), RwMatrixCreate());
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RwV3d upVector = { mat->right.z, mat->up.z, mat->at.z };
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RwV3d rightVector;
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RwV3d pos = RwFrameGetMatrix(f)->pos;
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// rotation == 0 -> looking in y direction
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// left? vector
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float c = Cos(m_ped->m_fRotationCur);
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float s = Sin(m_ped->m_fRotationCur);
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rightVector.x = -(c*mat->right.x + s*mat->right.y);
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rightVector.y = -(c*mat->up.x + s*mat->up.y);
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rightVector.z = -(c*mat->at.x + s*mat->at.y);
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if(changeRoll){
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// Used when aiming only involves over the legs.(canAimWithArm)
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// Automatically changes roll(forward rotation) axis of the parts above upper legs while moving, based on position of upper legs.
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// Not noticeable in normal conditions...
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RwV3d forwardVector;
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CVector inversedForward = CrossProduct(CVector(0.0f, 0.0f, 1.0f), mat->up);
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inversedForward.Normalise();
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float dotProduct = DotProduct(mat->at, inversedForward);
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if(dotProduct > 1.0f) dotProduct = 1.0f;
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if(dotProduct < -1.0f) dotProduct = -1.0f;
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float alpha = Acos(dotProduct);
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if(mat->at.z < 0.0f)
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alpha = -alpha;
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forwardVector.x = s * mat->right.x - c * mat->right.y;
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forwardVector.y = s * mat->up.x - c * mat->up.y;
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forwardVector.z = s * mat->at.x - c * mat->at.y;
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float curYaw, curPitch;
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ExtractYawAndPitchWorld(mat, &curYaw, &curPitch);
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RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT);
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RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi - (curYaw - m_ped->m_fRotationCur)), rwCOMBINEPOSTCONCAT);
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RwMatrixRotate(RwFrameGetMatrix(f), &forwardVector, RADTODEG(alpha), rwCOMBINEPOSTCONCAT);
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}else{
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// pitch
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RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT);
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// yaw
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RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi), rwCOMBINEPOSTCONCAT);
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}
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RwFrameGetMatrix(f)->pos = pos;
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RwMatrixDestroy(mat);
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}
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}
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void
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CPedIK::GetComponentPosition(RwV3d *pos, uint32 node)
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{
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RwFrame *f;
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RwMatrix *mat;
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#ifdef PED_SKIN
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if(IsClumpSkinned(m_ped->GetClump())){
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pos->x = 0.0f;
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pos->y = 0.0f;
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pos->z = 0.0f;
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mat = GetComponentMatrix(m_ped, node);
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// could just copy the position out of the matrix...
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RwV3dTransformPoints(pos, pos, 1, mat);
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}else
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#endif
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{
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f = m_ped->m_pFrames[node]->frame;
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mat = RwFrameGetMatrix(f);
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*pos = mat->pos;
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for (f = RwFrameGetParent(f); f; f = RwFrameGetParent(f))
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RwV3dTransformPoints(pos, pos, 1, RwFrameGetMatrix(f));
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}
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}
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RwMatrix*
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CPedIK::GetWorldMatrix(RwFrame *source, RwMatrix *destination)
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{
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RwFrame *i;
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*destination = *RwFrameGetMatrix(source);
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for (i = RwFrameGetParent(source); i; i = RwFrameGetParent(i))
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RwMatrixTransform(destination, RwFrameGetMatrix(i), rwCOMBINEPOSTCONCAT);
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return destination;
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*pos = GetComponentMatrix(m_ped, node)->pos;
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}
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LimbMoveStatus
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CPedIK::MoveLimb(LimbOrientation &limb, float approxPhi, float approxTheta, LimbMovementInfo &moveInfo)
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CPedIK::MoveLimb(LimbOrientation &limb, float targetYaw, float targetPitch, LimbMovementInfo &moveInfo)
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{
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LimbMoveStatus result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
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// phi
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// yaw
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if (limb.phi > approxPhi) {
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limb.phi -= moveInfo.yawD;
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} else if (limb.phi < approxPhi) {
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limb.phi += moveInfo.yawD;
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}
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if (Abs(limb.phi - approxPhi) < moveInfo.yawD) {
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limb.phi = approxPhi;
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if(Abs(limb.yaw-targetYaw) < moveInfo.yawD){
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limb.yaw = targetYaw;
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result = ANGLES_SET_EXACTLY;
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}else{
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if (limb.yaw > targetYaw) {
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limb.yaw -= moveInfo.yawD;
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} else if (limb.yaw < targetYaw) {
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limb.yaw += moveInfo.yawD;
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}
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}
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if (limb.phi > moveInfo.maxYaw || limb.phi < moveInfo.minYaw) {
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limb.phi = clamp(limb.phi, moveInfo.minYaw, moveInfo.maxYaw);
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if (limb.yaw > moveInfo.maxYaw || limb.yaw < moveInfo.minYaw) {
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limb.yaw = clamp(limb.yaw, moveInfo.minYaw, moveInfo.maxYaw);
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result = ANGLES_SET_TO_MAX;
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}
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// theta
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// pitch
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if (limb.theta > approxTheta) {
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limb.theta -= moveInfo.pitchD;
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} else if (limb.theta < approxTheta) {
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limb.theta += moveInfo.pitchD;
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if (Abs(limb.pitch - targetPitch) < moveInfo.pitchD){
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limb.pitch = targetPitch;
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}else{
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if (limb.pitch > targetPitch) {
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limb.pitch -= moveInfo.pitchD;
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} else if (limb.pitch < targetPitch) {
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limb.pitch += moveInfo.pitchD;
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}
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result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
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}
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if (Abs(limb.theta - approxTheta) < moveInfo.pitchD)
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limb.theta = approxTheta;
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else
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result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
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if (limb.theta > moveInfo.maxPitch || limb.theta < moveInfo.minPitch) {
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limb.theta = clamp(limb.theta, moveInfo.minPitch, moveInfo.maxPitch);
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if (limb.pitch > moveInfo.maxPitch || limb.pitch < moveInfo.minPitch) {
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limb.pitch = clamp(limb.pitch, moveInfo.minPitch, moveInfo.maxPitch);
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result = ANGLES_SET_TO_MAX;
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}
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return result;
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@ -226,259 +113,189 @@ CPedIK::RestoreGunPosn(void)
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return limbStatus == ANGLES_SET_EXACTLY;
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}
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#ifdef PED_SKIN
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void
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CPedIK::RotateHead(void)
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{
|
||||
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);
|
||||
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 torso
|
||||
RwMatrix worldMat = *GetComponentMatrix(m_ped, PED_NECK);
|
||||
ExtractYawAndPitchWorld(&worldMat, &yaw, &pitch);
|
||||
// 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, CGeneral::LimitRadianAngle(phi - yaw),
|
||||
CGeneral::LimitRadianAngle(DEGTORAD(10.0f)), ms_headInfo);
|
||||
LimbMoveStatus headStatus = MoveLimb(m_headOrient, headYaw, headPitch, 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))
|
||||
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;
|
||||
}else{
|
||||
RotateHead();
|
||||
return success;
|
||||
}
|
||||
}
|
||||
|
||||
// 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);
|
||||
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);
|
||||
|
||||
}
|
||||
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);
|
||||
*matrix = *GetComponentMatrix(m_ped, PED_CLAVICLER);
|
||||
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);
|
||||
}
|
||||
//
|
||||
|
||||
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);
|
||||
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;
|
||||
}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;
|
||||
}
|
||||
|
||||
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
|
||||
|
|
@ -487,8 +304,6 @@ 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 {
|
||||
|
|
@ -496,31 +311,17 @@ CPedIK::RestoreLookAt(void)
|
|||
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;
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
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
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in a new issue