1 files changed, 168 insertions, 369 deletions

diff --git a/src/peds/PedIK.cpp b/src/peds/PedIK.cpp
index 9dae5ff1..8b3835b3 100644
--- a/src/peds/PedIK.cpp
+++ b/src/peds/PedIK.cpp
@@ -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.theta - approxTheta) < moveInfo.pitchD)
-		limb.theta = approxTheta;
-	else
+	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 (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);
+	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)));
+	}
 
-		float neededThetaTurn = CGeneral::LimitRadianAngle(theta - pitch);
-		LimbMoveStatus headStatus = MoveLimb(m_headOrient, neededPhiTurn, neededThetaTurn, ms_headInfo);
-		if (headStatus == ANGLES_SET_TO_MAX)
-			success = false;
+	// 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));
 
-		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();
+	LimbMoveStatus headStatus = MoveLimb(m_headOrient, headYaw, headPitch, ms_headInfo);
+	if (headStatus == ANGLES_SET_TO_MAX)
+		success = false;
 
-		nextFrame.SetRotateZ(m_headOrient.theta);
-		nextFrame.RotateX(m_headOrient.phi);
-		nextFrame.GetPosition() += framePos;
-		nextFrame.UpdateRW();
+	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;
 
-		if (!(m_flags & LOOKAROUND_HEAD_ONLY))
-			RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
+	// 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;
-	}
 
-#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);
+		// 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;
-	}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;
-		}
-
-		CMatrix matrix(mat);
-		CVector pos = matrix.GetPosition();
-		matrix.SetRotateZ(m_headOrient.theta);
-		matrix.RotateX(m_headOrient.phi);
-		matrix.Translate(pos);
-		matrix.UpdateRW();
+	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;
 	}
-	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