summaryrefslogtreecommitdiffstats
path: root/src/peds/PedIK.cpp
blob: 1464c4e80571291d283b13e7fd0ceda316328aab (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
#include "common.h"

#include "Camera.h"
#include "PedIK.h"
#include "Ped.h"
#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) };
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) };

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;
}

void
CPedIK::RotateTorso(AnimBlendFrameData *animBlend, LimbOrientation *limb, bool changeRoll)
{
	RwFrame *f = animBlend->frame;
	RwMatrix *mat = CPedIK::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;
		CPedIK::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);
}

void
CPedIK::GetComponentPosition(RwV3d *pos, uint32 node)
{
	RwFrame *f;
	RwMatrix *mat;

	f = m_ped->GetNodeFrame(node);
	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;
}

LimbMoveStatus
CPedIK::MoveLimb(LimbOrientation &limb, float approxPhi, float approxTheta, LimbMovementInfo &moveInfo)
{
	LimbMoveStatus result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;

	// phi

	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;
		result = ANGLES_SET_EXACTLY;
	}

	if (limb.phi > moveInfo.maxYaw || limb.phi < moveInfo.minYaw) {
		limb.phi = clamp(limb.phi, moveInfo.minYaw, moveInfo.maxYaw);
		result = ANGLES_SET_TO_MAX;
	}

	// theta

	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
		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);
		result = ANGLES_SET_TO_MAX;
	}
	return result;
}

bool
CPedIK::RestoreGunPosn(void)
{
	LimbMoveStatus limbStatus = MoveLimb(m_torsoOrient, 0.0f, 0.0f, ms_torsoInfo);
	RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
	return limbStatus == ANGLES_SET_EXACTLY;
}

bool
CPedIK::LookInDirection(float phi, float theta)
{
	bool success = true;
	RwFrame *frame = m_ped->GetNodeFrame(PED_HEAD);
	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;
		CPedIK::ExtractYawAndPitchLocal(frameMat, &m_headOrient.phi, &m_headOrient.theta);
	}

	RwMatrix *worldMat = RwMatrixCreate();
	worldMat = CPedIK::GetWorldMatrix(RwFrameGetParent(frame), worldMat);

	float alpha, beta;
	CPedIK::ExtractYawAndPitchWorld(worldMat, &alpha, &beta);
	RwMatrixDestroy(worldMat);

	alpha += m_torsoOrient.phi;
	float neededPhiTurn = CGeneral::LimitRadianAngle(phi - alpha);
	beta *= cos(neededPhiTurn);

	float neededThetaTurn = CGeneral::LimitRadianAngle(theta - beta);
	LimbMoveStatus headStatus = CPedIK::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 (CPedIK::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(
		pos.x, pos.y,
		m_ped->GetPosition().x, m_ped->GetPosition().y);

	float thetaToFace = CGeneral::GetRadianAngleBetweenPoints(
		pos.z, (m_ped->GetPosition() - pos).Magnitude2D(),
		m_ped->GetPosition().z, 0.0f);

	return LookInDirection(phiToFace, thetaToFace);
}

bool
CPedIK::PointGunInDirection(float phi, float theta)
{
	bool result = true;
	bool armPointedToGun = false;
	float angle = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur);
	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);
	}
	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);
	} else {
		RwMatrix *matrix = GetWorldMatrix(RwFrameGetParent(m_ped->GetNodeFrame(PED_UPPERARMR)), RwMatrixCreate());
		float yaw, pitch;
		ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
		RwMatrixDestroy(matrix);
		LimbMoveStatus status = MoveLimb(m_torsoOrient, angle, theta, 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);
	return result;
}

bool
CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
{
	bool result = false;
	RwFrame *frame = m_ped->GetNodeFrame(PED_UPPERARMR);
	RwMatrix *matrix = GetWorldMatrix(RwFrameGetParent(frame), RwMatrixCreate());

	RwV3d upVector = { matrix->right.z, matrix->up.z, matrix->at.z };

	float yaw, pitch;
	ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
	RwMatrixDestroy(matrix);

	RwV3d rightVector = { 0.0f, 0.0f, 1.0f };
	RwV3d forwardVector = { 1.0f, 0.0f, 0.0f };

	float uaPhi = phi - m_torsoOrient.phi - DEGTORAD(15.0f);
	LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaPhi, CGeneral::LimitRadianAngle(theta - pitch), ms_upperArmInfo);
	if (uaStatus == ANGLES_SET_EXACTLY) {
		m_flags |= GUN_POINTED_SUCCESSFULLY;
		result = true;
	}
	if (uaStatus == ANGLES_SET_TO_MAX) {
		float laPhi = uaPhi - m_upperArmOrient.phi;

		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 (laStatus == ANGLES_SET_EXACTLY) {
			m_flags |= GUN_POINTED_SUCCESSFULLY;
			result = true;
		}
		RwFrame *child = GetFirstChild(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;
	}

	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;
	return result;
}

bool
CPedIK::PointGunAtPosition(CVector const& position)
{
	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));
}

bool
CPedIK::RestoreLookAt(void)
{
	bool result = false;
	RwMatrix *mat = RwFrameGetMatrix(m_ped->GetNodeFrame(PED_HEAD));
	if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
		m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
	} else {
		float yaw, pitch;
		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))
		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;
}

void
CPedIK::ExtractYawAndPitchWorld(RwMatrix *mat, float *yaw, float *pitch)
{
	float f = clamp(DotProduct(mat->up, CVector(0.0f, 1.0f, 0.0f)), -1.0f, 1.0f);
	*yaw = Acos(f);
	if (mat->up.x > 0.0f) *yaw = -*yaw;

	f = clamp(DotProduct(mat->right, CVector(0.0f, 0.0f, 1.0f)), -1.0f, 1.0f);
	*pitch = Acos(f);
	if (mat->up.z > 0.0f) *pitch = -*pitch;
}

void
CPedIK::ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch)
{
	float f = clamp(DotProduct(mat->at, CVector(0.0f, 0.0f, 1.0f)), -1.0f, 1.0f);
	*yaw = Acos(f);
	if (mat->at.y > 0.0f) *yaw = -*yaw;

	f = clamp(DotProduct(mat->right, CVector(1.0f, 0.0f, 0.0f)), -1.0f, 1.0f);
	*pitch = Acos(f);
	if (mat->up.x > 0.0f) *pitch = -*pitch;
}