void AvatarVoxelSystem::computeBoneIndicesAndWeights(const glm::vec3& vertex, BoneIndices& indices, glm::vec4& weights) const {
// transform into joint space
glm::vec3 jointVertex = (vertex - glm::vec3(0.5f, 0.5f, 0.5f)) * AVATAR_TREE_SCALE;
// find the nearest four joints (TODO: use a better data structure for the pose positions to speed this up)
IndexDistance nearest[BONE_ELEMENTS_PER_VERTEX];
const Skeleton& skeleton = _avatar->getSkeleton();
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
AvatarJointID parent = skeleton.joint[i].parent;
float distance = glm::length(computeVectorFromPointToSegment(jointVertex,
skeleton.joint[parent == AVATAR_JOINT_NULL ? i : parent].absoluteBindPosePosition,
skeleton.joint[i].absoluteBindPosePosition));
if (!MODES[_mode].includeBonesOutsideBindRadius && distance > skeleton.joint[i].bindRadius) {
continue;
}
for (int j = 0; j < BONE_ELEMENTS_PER_VERTEX; j++) {
if (distance < nearest[j].distance) {
// move the rest of the indices down
for (int k = BONE_ELEMENTS_PER_VERTEX - 1; k > j; k--) {
nearest[k] = nearest[k - 1];
}
nearest[j] = IndexDistance(i, distance);
break;
}
}
}
// compute the weights based on inverse distance
float totalWeight = 0.0f;
for (int i = 0; i < MODES[_mode].maxBonesPerBind; i++) {
indices[i] = nearest[i].index;
if (nearest[i].distance != FLT_MAX) {
weights[i] = 1.0f / glm::max(nearest[i].distance, EPSILON);
totalWeight += weights[i];
} else {
weights[i] = 0.0f;
}
}
// if it's not attached to anything, consider it attached to the hip
if (totalWeight == 0.0f) {
weights[0] = 1.0f;
return;
}
// ortherwise, normalize the weights
for (int i = 0; i < BONE_ELEMENTS_PER_VERTEX; i++) {
weights[i] /= totalWeight;
}
}
void AIHeroesAddedTask(Heroes & hero)
{
AIHero & ai_hero = AIHeroes::Get(hero);
AIKingdom & ai_kingdom = AIKingdoms::Get(hero.GetColor());
Queue & task = ai_hero.sheduled_visit;
IndexObjectMap & ai_objects = ai_kingdom.scans;
// load minimal distance tasks
std::vector<IndexDistance> objs;
objs.reserve(ai_objects.size());
for(std::map<s32, int>::const_iterator
it = ai_objects.begin(); it != ai_objects.end(); ++it)
{
const Maps::Tiles & tile = world.GetTiles((*it).first);
if(hero.isShipMaster())
{
if(MP2::OBJ_COAST != tile.GetObject() &&
! tile.isWater()) continue;
// check previous positions
if(MP2::OBJ_COAST == (*it).second &&
hero.isVisited(world.GetTiles((*it).first))) continue;
}
else
{
if(tile.isWater() && MP2::OBJ_BOAT != tile.GetObject()) continue;
}
objs.push_back(IndexDistance((*it).first,
Maps::GetApproximateDistance(hero.GetIndex(), (*it).first)));
}
DEBUG(DBG_AI, DBG_INFO, Color::String(hero.GetColor()) <<
", hero: " << hero.GetName() << ", task prepare: " << objs.size());
std::sort(objs.begin(), objs.end(), IndexDistance::Shortest);
for(std::vector<IndexDistance>::const_iterator
it = objs.begin(); it != objs.end(); ++it)
{
if(task.size() >= HERO_MAX_SHEDULED_TASK) break;
const bool validobj = AI::HeroesValidObject(hero, (*it).first);
if(validobj &&
hero.GetPath().Calculate((*it).first))
{
DEBUG(DBG_AI, DBG_INFO, Color::String(hero.GetColor()) <<
", hero: " << hero.GetName() << ", added tasks: " <<
MP2::StringObject(ai_objects[(*it).first]) << ", index: " << (*it).first <<
", distance: " << (*it).second);
task.push_back((*it).first);
ai_objects.erase((*it).first);
}
else
{
DEBUG(DBG_AI, DBG_TRACE, Color::String(hero.GetColor()) <<
", hero: " << hero.GetName() << (!validobj ? ", invalid: " : ", impossible: ") <<
MP2::StringObject(ai_objects[(*it).first]) << ", index: " << (*it).first <<
", distance: " << (*it).second);
}
}
if(task.empty())
AIHeroesAddedRescueTask(hero);
}