void CIKLimb::BonesCallback1 (CBoneInstance* B)
{
SCalculateData* D=(SCalculateData*)B->Callback_Param;
CIKLimb* L=D->m_limb ;
float const *x=D->m_angles ;
Fmatrix bm;//B->mTransform ;
bm.rotateY(x[3]) ;
CKinematics *K=D->m_K;
CBoneData& BD=K->LL_GetData(L->m_bones[1]);
Fmatrix cmp_save;cmp_save.set(B->mTransform) ;
B->mTransform.mul_43(K->LL_GetTransform(BD.GetParentID()),BD.bind_transform);
Fmatrix dd;dd.mul_43(Fmatrix().invert(B->mTransform),cmp_save);
Fvector a;dd.getXYZ(a);
B->mTransform.mulB_43(bm) ;
Fmatrix cmp_savei;cmp_savei.invert(cmp_save);
Fmatrix dif;dif.mul_43(cmp_savei,B->mTransform);
}
void CIKLimb::BonesCallback2 (CBoneInstance* B)
{
SCalculateData* D=(SCalculateData*)B->Callback_Param;
CIKLimb* L=D->m_limb ;
float const *x=D->m_angles ;
{
Fmatrix bm;//=B->mTransform ;
//tmp_pos .set(bm.c) ;
// Fvector ra;B->mTransform.getXYZ(ra) ;
// bm .setXYZ(-x[4],-x[5],-x[6]) ;
Matrix tbm;
float t[3];
t[0] = x[6]; t[1] = x[5]; t[2] = x[4] ;
EulerEval(ZXY,t,tbm) ;
IM2XM(tbm,bm) ;
CKinematics *K=D->m_K;
CBoneData& BD=K->LL_GetData(L->m_bones[2]) ;
Fmatrix start;start.mul_43(K->LL_GetTransform(BD.GetParentID()),BD.bind_transform);
Fmatrix inv_start;inv_start.invert(start);
Fmatrix dif;dif.mul_43(inv_start,B->mTransform);
Fmatrix ikdif;
Fvector a;
dif.getXYZ(a);
XM2IM(dif,ikdif);
//B->mTransform.mul_43(K->LL_GetTransform(BD.GetParentID()),BD.bind_transform);
//B->mTransform.mulB_43(bm) ;
B->mTransform.mul_43(start,bm);
#ifdef DEBUG
if(ph_dbg_draw_mask.test(phDbgDrawIKGoal))
{
Fmatrix DBGG;
DBGG.mul_43(*D->m_obj,B->mTransform);
DBG_DrawMatrix(DBGG,0.3f);
DBGG.mul_43(*D->m_obj,start);
DBG_DrawMatrix(DBGG,0.3f);
}
#endif
//bm.c .set(tmp_pos) ;
}
}
bool ESceneObjectTool::ExportClimableObjects(SExportStreams* F)
{
bool bResult = true;
CGeomPartExtractor* extractor = 0;
Fbox bb;
if (!GetBox(bb))
return false;
extractor = xr_new<CGeomPartExtractor>();
extractor->Initialize (bb,EPS_L,int_max);
UI->SetStatus ("Export climable objects...");
// collect verts&&faces
{
SPBItem* pb = UI->ProgressStart(m_Objects.size(), "Prepare geometry...");
for (ObjectIt it=m_Objects.begin(); it!=m_Objects.end(); it++)
{
pb->Inc();
CSceneObject* obj = dynamic_cast<CSceneObject*>(*it);
VERIFY (obj);
if (obj->IsStatic())
{
CEditableObject *O = obj->GetReference();
const Fmatrix& T = obj->_Transform();
for(EditMeshIt M =O->FirstMesh(); M!=O->LastMesh(); M++)
if (!build_mesh (T, *M, extractor, SGameMtl::flClimable, TRUE))
{
bResult = false;
break;
}
}
}
UI->ProgressEnd(pb);
}
if (!extractor->Process())
bResult = false;
// export parts
if (bResult)
{
SBPartVec& parts = extractor->GetParts();
SPBItem* pb = UI->ProgressStart(parts.size(),"Export Parts...");
for (SBPartVecIt p_it=parts.begin(); p_it!=parts.end(); p_it++)
{
pb->Inc ();
SBPart* P = *p_it;
if (P->Valid())
{
// export visual
AnsiString sn = AnsiString().sprintf("clmbl#%d",(p_it-parts.begin()));
Fvector local_normal = {0,0,0};
LPCSTR mat_name = NULL;
for (SBFaceVecIt it=P->m_Faces.begin(); it!=P->m_Faces.end(); it++)
{
for (u32 k=0; k<3; k++)
local_normal.add ((*it)->n[k]);
mat_name = (*it)->surf->_GameMtlName();
}
local_normal.normalize_safe ();
// export spawn object
{
AnsiString entity_ref = "climable_object";
ISE_Abstract* m_Data = create_entity(entity_ref.c_str()); VERIFY(m_Data);
ISE_Shape* m_Shape = m_Data->shape(); VERIFY(m_Shape);
// CSE_Visual* m_Visual = m_Data->visual(); VERIFY(m_Visual);
// set params
m_Data->set_name (entity_ref.c_str());
m_Data->set_name_replace (sn.c_str());
// set shape
CShapeData::shape_def shape;
shape.type = CShapeData::cfBox;
shape.data.box.scale ((P->m_BBox.max.x-P->m_BBox.min.x)*0.5f,
(P->m_BBox.max.y-P->m_BBox.min.y)*0.5f,
(P->m_BBox.max.z-P->m_BBox.min.z)*0.5f);
m_Shape->assign_shapes (&shape,1);
// orientate object
if (!OrientToNorm(local_normal,P->m_OBB.m_rotate,P->m_OBB.m_halfsize))
{
ELog.Msg(mtError,"Invalid climable object found. [%3.2f, %3.2f, %3.2f]",VPUSH(P->m_RefOffset));
}
else
{
Fmatrix M; M.set (P->m_OBB.m_rotate.i,P->m_OBB.m_rotate.j,P->m_OBB.m_rotate.k,P->m_OBB.m_translate);
M.getXYZ (P->m_RefRotate); // не i потому что в движке так
m_Data->position().set (P->m_RefOffset);
m_Data->angle().set (P->m_RefRotate);
m_Data->set_additional_info((void*)mat_name);
NET_Packet Packet;
m_Data->Spawn_Write (Packet,TRUE);
F->spawn.stream.open_chunk (F->spawn.chunk++);
F->spawn.stream.w (Packet.B.data,Packet.B.count);
F->spawn.stream.close_chunk ();
if (s_draw_dbg)
{
Tools->m_DebugDraw.AppendOBB(P->m_OBB);
M.transform_dir (local_normal);
Tools->m_DebugDraw.AppendLine(P->m_RefOffset,Fvector().mad(P->m_RefOffset,local_normal,1.f));
}
}
destroy_entity (m_Data);
}
}else
{
ELog.Msg(mtError,"Can't export invalid part #%d",p_it-parts.begin());
}
}
UI->ProgressEnd (pb);
}
// clean up
xr_delete (extractor);
return bResult;
}