const vector<double> Avatar::getCenterEyePosition() const {
vector<double> headPos(getTilePosition());
// NAO center eye is 524mm above the base
// see http://doc.aldebaran.com/1-14/family/nao_h25/dimensions_h25.html
headPos[1] += 0.524;
return headPos;
}
void CPlayerRotation::ProcessLean()
{
float leanAmt(0.0f);
if(m_stats.isOnLadder)
{
return;
}
if (!m_stats.inZeroG || m_stats.inAir < 0.1f)
{
if(float sLean = m_player.GetSpeedLean())
{
leanAmt = std::min(1.0f, sLean * 0.05f);
}
else if((m_actions & (ACTION_LEANLEFT | ACTION_LEANRIGHT)) != 0)
{
leanAmt = ((m_actions & ACTION_LEANLEFT) ? -1.0f : 0.0f) + ((m_actions & ACTION_LEANRIGHT) ? 1.0f : 0.0f);
}
else if(fabsf(m_desiredLeanAmount) > 0.01f)
{
leanAmt = m_desiredLeanAmount;
}
}
EStance stance = m_player.GetStance();
if (stance == STANCE_PRONE)
{
leanAmt *= 0.65f;
}
m_leanAmount = leanAmt;
//check if its possible
if (m_leanAmount * m_leanAmount > 0.01f)
{
float noLean(0.0f);
Vec3 headPos(m_player.GetEntity()->GetWorldPos() + m_baseQuat * m_player.GetStanceViewOffset(stance, &noLean));
Vec3 newPos(m_player.GetEntity()->GetWorldPos() + m_baseQuat * m_player.GetStanceViewOffset(stance, &m_leanAmount));
/*gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(headPos, 0.05f, ColorB(0,0,255,255) );
gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(newPos, 0.05f, ColorB(0,0,255,255) );
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(headPos, ColorB(0,0,255,255), newPos, ColorB(0,0,255,255));*/
ray_hit hit;
int rayFlags(rwi_stop_at_pierceable | rwi_colltype_any); //COLLISION_RAY_PIERCABILITY & rwi_pierceability_mask);
IPhysicalEntity *pSkip(m_player.GetEntity()->GetPhysics());
float distMult(3.0f);
if (gEnv->pPhysicalWorld->RayWorldIntersection(headPos + m_viewQuat.GetColumn1() * 0.25f, (newPos - headPos)*distMult, ent_terrain | ent_static | ent_rigid | ent_sleeping_rigid, rayFlags, &hit, 1, &pSkip, 1))
{
float dist((headPos - newPos).len2() * distMult);
m_leanAmount *= ((hit.pt - headPos).len2() / dist) / distMult;
//gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(hit.pt, 0.05f, ColorB(0,255,0,255) );
}
}
}
void SelfLocator::drawSamples()
{
const int numberOfSamples(samples->size());
const float maxWeighting = 2 * totalWeighting / numberOfSamples;
for(int i = 0; i < numberOfSamples; ++i)
{
const Sample& s(samples->at(i));
const Pose2D pose(s.angle, (float) s.translation.x, (float) s.translation.y);
unsigned char weighting = (unsigned char)(s.weighting / maxWeighting * 255);
Vector2<> bodyPoints[4] = {Vector2<>(55, 90),
Vector2<>(-55, 90),
Vector2<>(-55, -90),
Vector2<>(55, -90)
};
for(int j = 0; j < 4; ++j)
{
bodyPoints[j] = Geometry::rotate(bodyPoints[j], pose.rotation);
bodyPoints[j] += pose.translation;
}
Vector2<> headPos(30, 0);
headPos = Geometry::rotate(headPos, pose.rotation);
headPos += pose.translation;
//ColorRGBA color = s.weighting ? ColorRGBA(weighting, weighting, weighting) : ColorRGBA(255, 0, 0);
if(s.cluster == poseCalculator->getIndexOfBestCluster())
{
//color = ColorRGBA(200, 0, 200);
}
/*POLYGON("module:SelfLocator:samples", 4, bodyPoints,
0, // pen width
Drawings::ps_solid,
ColorRGBA(180, 180, 180),
Drawings::bs_solid,
color);
CIRCLE("module:SelfLocator:samples",
headPos.x,
headPos.y,
30,
0, // pen width
Drawings::ps_solid,
ColorRGBA(180, 180, 180),
Drawings::bs_solid,
ColorRGBA(180, 180, 180));*/
}
}
// has to be changed! (maybe bone position)
//------------------------------------------------------------------------
int CScriptBind_Actor::GetHeadPos(IFunctionHandler *pH)
{
CActor *pActor = GetActor(pH);
if (!pActor)
return pH->EndFunction();
//FIXME:dir is not used
// Vec3 dir(0,0,0);
// Vec3 pos(0,0,0);
// pActor->GetActorInfo(pos,dir);
Vec3 headPos(0,0,0);
if (IMovementController * pMC = pActor->GetMovementController())
{
SMovementState ms;
pMC->GetMovementState( ms );
headPos = ms.eyePosition;
}
return pH->EndFunction(Script::SetCachedVector( headPos, pH, 1 ));
}
void CPlayerRotation::ProcessLean()
{
float leanAmt(0.0f);
if(m_stats.isOnLadder)
return;
if (!m_stats.inZeroG || m_stats.inAir<0.1f)
{
if(float sLean = m_player.GetSpeedLean())
leanAmt = std::min(1.0f, sLean * 0.05f);
else if((m_actions & (ACTION_LEANLEFT|ACTION_LEANRIGHT)) != 0)
leanAmt = ((m_actions & ACTION_LEANLEFT)?-1.0f:0.0f) + ((m_actions & ACTION_LEANRIGHT)?1.0f:0.0f);
else if(fabsf(m_desiredLeanAmount) > 0.01f)
leanAmt = m_desiredLeanAmount;
}
// head offset model for leaning and for forward tilting based on tracker info...
if (m_player.IsClient() && g_vr->initialized())
{
Ang3 tmp;
g_vr->headOrientation(tmp);
float headRoll = RAD2DEG(tmp.y);
if ( headRoll > 180.f ) //handle wrap around
{
headRoll = -360.f + headRoll;
}
else if ( headRoll < -180.f )
{
headRoll = 360 + headRoll;
}
leanAmt = headRoll / 45.f;
// CryLogAlways("Head Roll: %f Lean: %f", headRoll, leanAmt);
}
EStance stance = m_player.GetStance();
if (stance == STANCE_PRONE)
leanAmt *= 0.65f;
m_leanAmount = leanAmt;
//check if its possible
if (m_leanAmount*m_leanAmount > 0.01f)
{
float noLean(0.0f);
Vec3 headPos(m_player.GetEntity()->GetWorldPos() + m_baseQuat * m_player.GetStanceViewOffset(stance,&noLean));
Vec3 newPos(m_player.GetEntity()->GetWorldPos() + m_baseQuat * m_player.GetStanceViewOffset(stance,&m_leanAmount));
/*gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(headPos, 0.05f, ColorB(0,0,255,255) );
gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(newPos, 0.05f, ColorB(0,0,255,255) );
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(headPos, ColorB(0,0,255,255), newPos, ColorB(0,0,255,255));*/
ray_hit hit;
int rayFlags(rwi_stop_at_pierceable|rwi_colltype_any);//COLLISION_RAY_PIERCABILITY & rwi_pierceability_mask);
IPhysicalEntity *pSkip(m_player.GetEntity()->GetPhysics());
float distMult(3.0f);
if (gEnv->pPhysicalWorld->RayWorldIntersection(headPos + m_viewQuat.GetColumn1() * 0.25f, (newPos - headPos)*distMult, ent_terrain|ent_static|ent_rigid|ent_sleeping_rigid, rayFlags, &hit, 1, &pSkip, 1))
{
float dist((headPos - newPos).len2() * distMult);
m_leanAmount *= ((hit.pt - headPos).len2() / dist) / distMult;
//gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(hit.pt, 0.05f, ColorB(0,255,0,255) );
}
}
}
