//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
const Math::Point3
PhysicsActor::getPosition()
{
Math::Point3 position;
Math::Matrix4 matrix;
NewtonBodyGetMatrix(m_pActor, matrix.m_array);
matrix.getPosition(position);
return position;
}
void EMIHead::lookAt(bool entering, const Math::Vector3d &point, float rate, const Math::Matrix4 &matrix) {
if (!_cost->_emiSkel || !_cost->_emiSkel->_obj)
return;
if (_jointName.empty())
return;
Joint *joint = _cost->_emiSkel->_obj->getJointNamed(_jointName);
if (!joint)
return;
Math::Quaternion lookAtQuat; // Note: Identity if not looking at anything.
if (entering) {
Math::Matrix4 jointToWorld = _cost->getOwner()->getFinalMatrix() * joint->_finalMatrix;
Math::Vector3d jointWorldPos = jointToWorld.getPosition();
Math::Matrix4 worldToJoint = jointToWorld;
worldToJoint.invertAffineOrthonormal();
Math::Vector3d targetDir = (point + _offset) - jointWorldPos;
targetDir.normalize();
const Math::Vector3d worldUp(0, 1, 0);
Math::Vector3d frontDir = Math::Vector3d(worldToJoint(0, 1), worldToJoint(1, 1), worldToJoint(2, 1)); // Look straight ahead. (+Y)
Math::Vector3d modelFront(0, 0, 1);
Math::Vector3d modelUp(0, 1, 0);
joint->_absMatrix.inverseRotate(&modelFront);
joint->_absMatrix.inverseRotate(&modelUp);
// Generate a world-space look at matrix.
Math::Matrix4 lookAtTM;
lookAtTM.setToIdentity();
if (Math::Vector3d::dotProduct(targetDir, worldUp) >= 0.98f) // Avoid singularity if trying to look straight up.
lookAtTM.buildFromTargetDir(modelFront, targetDir, modelUp, -frontDir); // Instead of orienting head towards scene up, orient head towards character "back",
else if (Math::Vector3d::dotProduct(targetDir, worldUp) <= -0.98f) // Avoid singularity if trying to look straight down.
lookAtTM.buildFromTargetDir(modelFront, targetDir, modelUp, frontDir); // Instead of orienting head towards scene down, orient head towards character "front",
else
lookAtTM.buildFromTargetDir(modelFront, targetDir, modelUp, worldUp);
// Convert from world-space to joint-space.
lookAtTM = worldToJoint * lookAtTM;
// Apply angle limits.
Math::Angle p, y, r;
lookAtTM.getXYZ(&y, &p, &r, Math::EO_ZXY);
y.clampDegrees(_yawRange);
p.clampDegrees(_minPitch, _maxPitch);
r.clampDegrees(30.0f);
lookAtTM.buildFromXYZ(y, p, r, Math::EO_ZXY);
lookAtQuat.fromMatrix(lookAtTM.getRotation());
}
if (_headRot != lookAtQuat) {
Math::Quaternion diff = _headRot.inverse() * lookAtQuat;
float angle = 2 * acos(diff.w());
if (diff.w() < 0.0f) {
angle = 2 * (float)M_PI - angle;
}
float turnAmount = g_grim->getPerSecond(rate * ((float)M_PI / 180.0f));
if (turnAmount < angle)
_headRot = _headRot.slerpQuat(lookAtQuat, turnAmount / angle);
else
_headRot = lookAtQuat;
}
if (_headRot != Math::Quaternion()) { // If not identity..
joint->_animMatrix = joint->_animMatrix * _headRot.toMatrix();
joint->_animQuat = joint->_animQuat * _headRot;
_cost->_emiSkel->_obj->commitAnim();
}
}