CalSpringSystem::CalSpringSystem()
: m_pModel(0)
{
m_vGravity = CalVector(0.0f, 0.0f, -98.1f);
// We add this force to simulate some movement
m_vForce = CalVector(0.0f, 0.5f, 0.0f);
}
CalSpringSystem::CalSpringSystem(CalModel* pModel)
{
assert(pModel);
m_pModel = pModel;
m_vGravity = CalVector(0.0f, 0.0f, -98.1f);
// We add this force to simulate some movement
m_vForce = CalVector(0.0f, 0.5f, 0.0f);
m_collision=false;
}
void CalCoreBone::initBoundingBox()
{
CalQuaternion rot;
rot=m_rotationBoneSpace;
rot.invert();
CalVector dir = CalVector(1.0f,0.0f,0.0f);
dir*=rot;
m_boundingBox.plane[0].setNormal(dir);
dir = CalVector(-1.0f,0.0f,0.0f);
dir*=rot;
m_boundingBox.plane[1].setNormal(dir);
dir = CalVector(0.0f,1.0f,0.0f);
dir*=rot;
m_boundingBox.plane[2].setNormal(dir);
dir = CalVector(0.0f,-1.0f,0.0f);
dir*=rot;
m_boundingBox.plane[3].setNormal(dir);
dir = CalVector(0.0f,0.0f,1.0f);
dir*=rot;
m_boundingBox.plane[4].setNormal(dir);
dir = CalVector(0.0f,0.0f,-1.0f);
dir*=rot;
m_boundingBox.plane[5].setNormal(dir);
}
/////////////////////////////////////
// Purpose: set the relative translation
// of the given bone
// Output: bone moved
// Return: none
/////////////////////////////////////
void IgfxObject::BoneSetTrans(s32 boneID, const Vec3D & loc)
{
if(m_pCalModel)
{
Vec3D trans; BoneGetTrans(boneID, &trans);
CalSkeleton *pSkel = m_pCalModel->getSkeleton();
CalBone *pBone = pSkel->getBone(boneID);
if(pBone)
{
pBone->setTranslation(CalVector(trans.x+loc.x, trans.y+loc.y, trans.z+loc.z));
pBone->calculateState();
}
}
}
void CalBone::calculateBoundingBox()
{
if(!getCoreBone()->isBoundingBoxPrecomputed())
return;
CalVector dir = CalVector(1.0f,0.0f,0.0f);
dir*=getTransformMatrix();
m_boundingBox.plane[0].setNormal(dir);
dir = CalVector(-1.0f,0.0f,0.0f);
dir*=getTransformMatrix();
m_boundingBox.plane[1].setNormal(dir);
dir = CalVector(0.0f,1.0f,0.0f);
dir*=getTransformMatrix();
m_boundingBox.plane[2].setNormal(dir);
dir = CalVector(0.0f,-1.0f,0.0f);
dir*=getTransformMatrix();
m_boundingBox.plane[3].setNormal(dir);
dir = CalVector(0.0f,0.0f,1.0f);
dir*=getTransformMatrix();
m_boundingBox.plane[4].setNormal(dir);
dir = CalVector(0.0f,0.0f,-1.0f);
dir*=getTransformMatrix();
m_boundingBox.plane[5].setNormal(dir);
int i;
for(i=0;i< 6; i++)
{
CalVector position;
getCoreBone()->getBoundingData(i,position);
position*=getTransformMatrix();
position+=getTranslationBoneSpace();
int planeId;
for(planeId = 0; planeId < 6; ++planeId)
{
if(m_boundingBox.plane[planeId].eval(position) < 0.0f)
{
m_boundingBox.plane[planeId].setPosition(position);
}
}
}
}
CalVector CalPhysique::calculateVertex(CalSubmesh *pSubmesh, int vertexId)
{
// get bone vector of the skeleton
std::vector<CalBone *>& vectorBone = m_pModel->getSkeleton()->getVectorBone();
// get vertex of the core submesh
std::vector<CalCoreSubmesh::Vertex>& vectorVertex = pSubmesh->getCoreSubmesh()->getVectorVertex();
// get physical property vector of the core submesh
//std::vector<CalCoreSubmesh::PhysicalProperty>& vectorPhysicalProperty = pSubmesh->getCoreSubmesh()->getVectorPhysicalProperty();
// get the sub morph target vector from the core sub mesh
std::vector<CalCoreSubMorphTarget*>& vectorSubMorphTarget =
pSubmesh->getCoreSubmesh()->getVectorCoreSubMorphTarget();
// get the number of morph targets
int morphTargetCount = pSubmesh->getMorphTargetWeightCount();
// get the vertex
CalCoreSubmesh::Vertex& vertex = vectorVertex[vertexId];
// blend the morph targets
CalVector position=vertex.position;
{
int morphTargetId;
for(morphTargetId=0; morphTargetId < morphTargetCount;++morphTargetId)
{
CalCoreSubMorphTarget::BlendVertex blendVertex;
vectorSubMorphTarget[morphTargetId]->getBlendVertex(vertexId, blendVertex);
float currentWeight = pSubmesh->getMorphTargetWeight(morphTargetId);
position.x += currentWeight*blendVertex.position.x;
position.y += currentWeight*blendVertex.position.y;
position.z += currentWeight*blendVertex.position.z;
}
}
// initialize vertex
float x, y, z;
x = 0.0f;
y = 0.0f;
z = 0.0f;
// blend together all vertex influences
int influenceId;
int influenceCount=(int)vertex.vectorInfluence.size();
if(influenceCount == 0)
{
x = position.x;
y = position.y;
z = position.z;
}
else
{
for(influenceId = 0; influenceId < influenceCount; ++influenceId)
{
// get the influence
CalCoreSubmesh::Influence& influence = vertex.vectorInfluence[influenceId];
// get the bone of the influence vertex
CalBone *pBone;
pBone = vectorBone[influence.boneId];
// transform vertex with current state of the bone
CalVector v(position);
v *= pBone->getTransformMatrix();
v += pBone->getTranslationBoneSpace();
x += influence.weight * v.x;
y += influence.weight * v.y;
z += influence.weight * v.z;
}
}
/*
// save vertex position
if(pSubmesh->getCoreSubmesh()->getSpringCount() > 0 && pSubmesh->hasInternalData())
{
// get the pgysical property of the vertex
CalCoreSubmesh::PhysicalProperty& physicalProperty = vectorPhysicalProperty[vertexId];
// assign new vertex position if there is no vertex weight
if(physicalProperty.weight == 0.0f)
{
pVertexBuffer[0] = x;
pVertexBuffer[1] = y;
pVertexBuffer[2] = z;
}
}
else
{
pVertexBuffer[0] = x;
pVertexBuffer[1] = y;
pVertexBuffer[2] = z;
}
*/
// return the vertex
//return CalVector(x, y, z);
return CalVector(x*m_axisFactorX,y*m_axisFactorY,z*m_axisFactorZ);
}
void CalSpringSystem::calculateVertices(CalSubmesh *pSubmesh, float deltaTime)
{
// get the vertex vector of the submesh
std::vector<CalVector>& vectorVertex = pSubmesh->getVectorVertex();
// get the physical property vector of the submesh
std::vector<CalSubmesh::PhysicalProperty>& vectorPhysicalProperty = pSubmesh->getVectorPhysicalProperty();
// get the physical property vector of the core submesh
std::vector<CalCoreSubmesh::PhysicalProperty>& vectorCorePhysicalProperty = pSubmesh->getCoreSubmesh()->getVectorPhysicalProperty();
// loop through all the vertices
int vertexId;
for(vertexId = 0; vertexId < (int)vectorVertex.size(); ++vertexId)
{
// get the vertex
CalVector& vertex = vectorVertex[vertexId];
// get the physical property of the vertex
CalSubmesh::PhysicalProperty& physicalProperty = vectorPhysicalProperty[vertexId];
// get the physical property of the core vertex
CalCoreSubmesh::PhysicalProperty& corePhysicalProperty = vectorCorePhysicalProperty[vertexId];
// store current position for later use
CalVector position;
position = physicalProperty.position;
// only take vertices with a weight > 0 into account
if(corePhysicalProperty.weight > 0.0f)
{
// do the Verlet step
physicalProperty.position += (position - physicalProperty.positionOld) * 0.99f + physicalProperty.force / corePhysicalProperty.weight * deltaTime * deltaTime;
CalSkeleton *pSkeleton = m_pModel->getSkeleton();
if(m_collision)
{
std::vector<CalBone *> &m_vectorbone = pSkeleton->getVectorBone();
unsigned long boneId;
for(boneId=0; boneId < m_vectorbone.size(); boneId++)
{
CalBoundingBox p = m_vectorbone[boneId]->getBoundingBox();
bool in=true;
float min=1e10;
int index=-1;
int faceId;
for(faceId=0; faceId < 6 ; faceId++)
{
if(p.plane[faceId].eval(physicalProperty.position)<=0)
{
in=false;
}
else
{
float dist=p.plane[faceId].dist(physicalProperty.position);
if(dist<min)
{
index=faceId;
min=dist;
}
}
}
if(in && index!=-1)
{
CalVector normal = CalVector(p.plane[index].a,p.plane[index].b,normal.z = p.plane[index].c);
normal.normalize();
physicalProperty.position = physicalProperty.position - min*normal;
}
in=true;
for(faceId=0; faceId < 6 ; faceId++)
{
if(p.plane[faceId].eval(physicalProperty.position) < 0 )
{
in=false;
}
}
if(in)
{
physicalProperty.position = vectorVertex[vertexId];
}
}
}
}
else
{
physicalProperty.position = vectorVertex[vertexId];
}
// make the current position the old one
physicalProperty.positionOld = position;
// set the new position of the vertex
vertex = physicalProperty.position;
// clear the accumulated force on the vertex
physicalProperty.force.clear();
}
// get the spring vector of the core submesh
std::vector<CalCoreSubmesh::Spring>& vectorSpring = pSubmesh->getCoreSubmesh()->getVectorSpring();
// iterate a few times to relax the constraints
int iterationCount;
#define ITERATION_COUNT 2
for(iterationCount = 0; iterationCount < ITERATION_COUNT; ++iterationCount)
{
// loop through all the springs
std::vector<CalCoreSubmesh::Spring>::iterator iteratorSpring;
for(iteratorSpring = vectorSpring.begin(); iteratorSpring != vectorSpring.end(); ++iteratorSpring)
{
// get the spring
CalCoreSubmesh::Spring& spring = *iteratorSpring;
// compute the difference between the two spring vertices
CalVector distance;
distance = vectorVertex[spring.vertexId[1]] - vectorVertex[spring.vertexId[0]];
// get the current length of the spring
float length;
length = distance.length();
if(length > 0.0f)
{
/*if (spring.springCoefficient == 0)
{
vectorVertex[spring.vertexId[1]] = vectorVertex[spring.vertexId[0]];
vectorPhysicalProperty[spring.vertexId[1]].position = vectorVertex[spring.vertexId[0]];
}
else
{*/
float factor[2];
factor[0] = (length - spring.idleLength) / length;
factor[1] = factor[0];
if(vectorCorePhysicalProperty[spring.vertexId[0]].weight > 0.0f)
{
factor[0] /= 2.0f;
factor[1] /= 2.0f;
}
else
{
factor[0] = 0.0f;
}
if(vectorCorePhysicalProperty[spring.vertexId[1]].weight <= 0.0f)
{
factor[0] *= 2.0f;
factor[1] = 0.0f;
}
vectorVertex[spring.vertexId[0]] += distance * factor[0];
vectorPhysicalProperty[spring.vertexId[0]].position = vectorVertex[spring.vertexId[0]];
vectorVertex[spring.vertexId[1]] -= distance * factor[1];
vectorPhysicalProperty[spring.vertexId[1]].position = vectorVertex[spring.vertexId[1]];
//}
}
}
}
/* DEBUG-CODE ********************
CalVector spherePosition(Sphere.x, Sphere.y, Sphere.z);
float sphereRadius = Sphere.radius;
// loop through all the vertices
for(vertexId = 0; vertexId < (int)vectorVertex.size(); ++vertexId)
{
// get the vertex
CalVector& vertex = vectorVertex[vertexId];
// get the physical property of the vertex
CalSubmesh::PhysicalProperty& physicalProperty = vectorPhysicalProperty[vertexId];
// get the physical property of the core vertex
CalCoreSubmesh::PhysicalProperty& corePhysicalProperty = vectorCorePhysicalProperty[vertexId];
// only take vertices with a weight > 0 into account
if(corePhysicalProperty.weight > 0.0f)
{
CalVector position;
position = physicalProperty.position;
position -= spherePosition;
float length;
length = position.normalize();
if(length < sphereRadius)
{
position *= sphereRadius;
position += spherePosition;
physicalProperty.position = position;
physicalProperty.positionOld = position;
vertex = physicalProperty.position;
}
}
}
*********************************/
}
static
void
generateTangentAndHandednessBuffer( osgCal::MeshData* m,
const CalIndex* indexBuffer )
{
if ( !m->texCoordBuffer.valid() )
{
return;
}
int vertexCount = m->vertexBuffer->size();
int faceCount = m->getIndicesCount() / 3;
m->tangentAndHandednessBuffer = new TangentAndHandednessBuffer( vertexCount );
CalVector* tan1 = new CalVector[vertexCount];
CalVector* tan2 = new CalVector[vertexCount];
const GLfloat* texCoordBufferData = (GLfloat*) m->texCoordBuffer->getDataPointer();
const GLfloat* vb = (GLfloat*) m->vertexBuffer->getDataPointer();
#ifdef OSG_CAL_BYTE_BUFFERS
GLfloat* thb = new GLfloat[ vertexCount*4 ];
const GLfloat* nb = floatNormalBuffer;
#else
GLfloat* thb = (GLfloat*) m->tangentAndHandednessBuffer->getDataPointer();
// GLshort* thb = (GLshort*) m->tangentAndHandednessBuffer->getDataPointer();
const GLfloat* nb = (GLfloat*) m->normalBuffer->getDataPointer();
#endif
for ( int face = 0; face < faceCount; face++ )
{
for ( int j = 0; j < 3; j++ )
{
// there seems to be no visual difference in calculating
// tangent per vertex (as is tan1[i1] += spos(j=0,1,2))
// or per face (tan1[i1,i2,i3] += spos)
CalIndex i1 = indexBuffer[face*3+(j+0)%3];
CalIndex i2 = indexBuffer[face*3+(j+1)%3];
CalIndex i3 = indexBuffer[face*3+(j+2)%3];
const float* v1 = &vb[i1*3];
const float* v2 = &vb[i2*3];
const float* v3 = &vb[i3*3];
const float* w1 = &texCoordBufferData[i1*2];
const float* w2 = &texCoordBufferData[i2*2];
const float* w3 = &texCoordBufferData[i3*2];
#define x(_a) (_a[0])
#define y(_a) (_a[1])
#define z(_a) (_a[2])
float x1 = x(v2) - x(v1);
float x2 = x(v3) - x(v1);
float y1 = y(v2) - y(v1);
float y2 = y(v3) - y(v1);
float z1 = z(v2) - z(v1);
float z2 = z(v3) - z(v1);
float s1 = x(w2) - x(w1);
float s2 = x(w3) - x(w1);
float t1 = y(w2) - y(w1);
float t2 = y(w3) - y(w1);
#undef x
#undef y
#undef z
//float r = 1.0F / (s1 * t2 - s2 * t1);
float r = (s1 * t2 - s2 * t1) < 0 ? -1.0 : 1.0;
CalVector sdir((t2 * x1 - t1 * x2) * r, (t2 * y1 - t1 * y2) * r,
(t2 * z1 - t1 * z2) * r);
CalVector tdir((s1 * x2 - s2 * x1) * r, (s1 * y2 - s2 * y1) * r,
(s1 * z2 - s2 * z1) * r);
// sdir & tdir can be 0 (when UV unwrap doesn't exists
// or has errors like coincide points)
// we ignore them
if ( sdir.length() > 0 )
{
sdir.normalize();
tan1[i1] += sdir;
//tan1[i2] += sdir;
//tan1[i3] += sdir;
}
if ( tdir.length() > 0 )
{
tdir.normalize();
tan2[i1] += tdir;
//tan2[i2] += tdir;
//tan2[i3] += tdir;
}
}
}
for (long a = 0; a < vertexCount; a++)
{
CalVector tangent;
CalVector binormal;
CalVector t = tan1[a];
CalVector b = tan2[a];
CalVector n = CalVector( nb[a*3+0],
nb[a*3+1],
nb[a*3+2] );
// tangent & bitangent can be zero when UV unwrap doesn't exists
// or has errors like coincide points
if ( t.length() > 0 )
{
t.normalize();
// Gram-Schmidt orthogonalize
tangent = t - n * (n*t);
tangent.normalize();
// Calculate handedness
binormal = CalVector(n % tangent) *
((((n % t) * b) < 0.0F) ? -1.0f : 1.0f);
binormal.normalize();
}
else if ( b.length() > 0 )
{
b.normalize();
// Gram-Schmidt orthogonalize
binormal = b - n * (n*b);
binormal.normalize();
// Calculate handedness
tangent = CalVector(n % binormal) *
((((n % b) * t) < 0.0F) ? -1.0f : 1.0f);
tangent.normalize();
}
// std::cout << "t = " << tangent.x << '\t' << tangent.y << '\t' << tangent.z << '\n';
// std::cout << "b = " << binormal.x << '\t' << binormal.y << '\t' << binormal.z << '\n';
// std::cout << "n = " << n.x << '\t' << n.y << '\t' << n.z << '\n';
// thb[a*4+0] = floatToHalf( tangent.x ); //tangent.x * 0x7FFF;
// thb[a*4+1] = floatToHalf( tangent.y ); //tangent.y * 0x7FFF;
// thb[a*4+2] = floatToHalf( tangent.z ); //tangent.z * 0x7FFF;
// thb[a*4+3] = floatToHalf((((n % tangent) * binormal) > 0.0F) ? -1.0f : 1.0f); // handedness
thb[a*4+0] = tangent.x;
thb[a*4+1] = tangent.y;
thb[a*4+2] = tangent.z;
thb[a*4+3] = ((((n % tangent) * binormal) > 0.0F) ? -1.0f : 1.0f); // handedness
}
delete[] tan1;
delete[] tan2;
#ifdef OSG_CAL_BYTE_BUFFERS
GLbyte* tangents = (GLbyte*) tangentBuffer->getDataPointer();
GLbyte* binormals = (GLbyte*) binormalBuffer->getDataPointer();
for ( int i = 0; i < vertexCount*3; i++ )
{
tangents[i] = static_cast< GLbyte >( tangentBuffer[i]*127.0 );
binormals[i] = static_cast< GLbyte >( binormalBuffer[i]*127.0 );
//std::cout << (int)tangents[i] << '\n';
}
delete[] tangentBuffer;
delete[] binormalBuffer;
#endif
}
bool CPhysxSkeleton::AddSphericalJoint(CXMLTreeNode _XMLObjects)
{
string l_szActor1, l_szActor2, l_szDirection;
l_szActor1 = _XMLObjects.GetAttribute<std::string>("Actor1" , "");
l_szActor2 = _XMLObjects.GetAttribute<std::string>("Actor2" , "");
l_szDirection = _XMLObjects.GetAttribute<std::string>("Direction" , "");
SSphericalLimitInfo l_pJointInfo = GetJointParameterInfo(_XMLObjects);
CPhysxBone* l_pBone1 = GetPhysxBoneByName(l_szActor1);
CPhysxBone* l_pBone2 = GetPhysxBoneByName(l_szActor2);
CPhysicActor* l_pActor1 = 0;
CPhysicActor* l_pActor2 = 0;
l_pActor1 = l_pBone1->GetPhysxActor();
CPhysicSphericalJoint* l_pSphericalJoint = 0;
l_pSphericalJoint = new CPhysicSphericalJoint();
CalVector l_vCalVect = l_pBone1->GetCalBone()->getTranslationAbsolute();
Math::Vect3f l_vJointPoint(-l_vCalVect.x, l_vCalVect.y, l_vCalVect.z);
l_vJointPoint = m_mTransform * l_vJointPoint;
Math::Vect3f l_vAxis;
CalVector l_vVect;
//MES PROVES
if (l_szDirection == "Out")
{
if (l_pBone1->GetChildList().size() > 0)
{
int l_pChildId = l_pBone1->GetChildList()[0];
string l_szNameChild = m_pCalSkeleton->getBone(l_pChildId)->getCoreBone()->getName();
CPhysxBone* l_pPhysChild = GetPhysxBoneByName(l_szNameChild);
l_vVect = l_pPhysChild->GetCalBone()->getTranslationAbsolute();
l_vVect.x = -l_vVect.x;
/* l_vAxis = Math::Vect3f(l_vVect.x-l_vJointPoint.x,l_vVect.y-l_vJointPoint.y,l_vVect.z-l_vJointPoint.z);
l_vAxis.Normalize();*/
}
else
{
Math::Vect3f l_vMiddle = l_pBone1->GetMiddlePoint();
l_vVect = CalVector(l_vMiddle.x, l_vMiddle.y, l_vMiddle.z);
/* l_vAxis(l_vMiddle.x-l_vJointPoint.x,l_vMiddle.y-l_vJointPoint.y,l_vMiddle.z-l_vJointPoint.z);
l_vAxis.Normalize();*/
}
}
else if (l_szDirection == "In")
{
/*
if (!l_pBone1->IsBoneRoot())
{
int l_pParentID = l_pBone1->GetParentID();
string l_szNameParent = m_pCalSkeleton->getBone(l_pParentID)->getCoreBone()->getName();
CPhysxBone* l_pPhysParent = GetPhysxBoneByName(l_szNameParent);
CalVector l_vVect = l_pPhysParent->GetCalBone()->getTranslationAbsolute();
l_vVect.x = -l_vVect.x;
/* l_vAxis = Math::Vect3f(l_vVect.x-l_vJointPoint.x,l_vVect.y-l_vJointPoint.y,l_vVect.z-l_vJointPoint.z);
l_vAxis.Normalize();
}
*/
}
Math::Vect3f l_vAxisAux(l_vVect.x, l_vVect.y, l_vVect.z);
l_vAxisAux = m_mTransform * l_vAxisAux;
l_vAxis = Math::Vect3f(l_vAxisAux.x - l_vJointPoint.x, l_vAxisAux.y - l_vJointPoint.y, l_vAxisAux.z - l_vJointPoint.z);
l_vAxis.Normalize();
l_pJointInfo.m_vAnchor = l_vJointPoint;
l_pJointInfo.m_vAxis = l_vAxis;
if (l_szActor2 == "NULL")
{
//l_pSphericalJoint->SetInfoComplete(l_vJointPoint,l_vAxis,l_pActor1);
l_pSphericalJoint->SetInfoRagdoll(l_pJointInfo, l_pActor1);
}
else
{
l_pActor2 = l_pBone2->GetPhysxActor();
//l_pSphericalJoint->SetInfoComplete(l_vJointPoint,l_vAxis,l_pActor1,l_pActor2);
l_pSphericalJoint->SetInfoRagdoll(l_pJointInfo, l_pActor1, l_pActor2);
}
PhysXMInstance->AddPhysicSphericalJoint(l_pSphericalJoint);
m_vSphericalJoints.push_back(l_pSphericalJoint);
return true;
}
void IKTagger::update( float elapsed )
{
bool do_ik = false;
float ik_fade_speed = 1.0f;
bool sidestep_allowed = false;
model.updateAnimation( elapsed );
switch( state )
{
case TS_WAITING:
break;
case TS_WALKON:
{
// check for walk cycle
CalVector loop_root_pos;
if ( model.animationDidLoop( "walk", &loop_root_pos ) )
{
printf("-- walk looped\n");
root_pos += (loop_root_pos)-model.getRootBonePosition();
if ( fabsf(root_pos.x-tag_start_x) < fabsf(walk_cycle_dx) )
{
// stop the walk
model.stopCycle( WALK_ANIM );
model.startCycle( IDLE_ANIM );
model.doAction( WALK_TO_TURN_ANIM );
// turning
state = TS_WALK_TO_TURN;
printf(" --> turning\n");
}
}
}
break;
case TS_WALK_TO_TURN:
{
do_ik = false;
ik_target_weight = 1.0f;
ik_fade_speed = 0.33f;
if ( model.actionDidFinish( WALK_TO_TURN_ANIM ) )
{
// animation finished: update root position from animation displacement
setRootPosition( root_pos+walk_to_turn_root_displacement );
// now tagging
state = TS_TAGGING;
printf(" --> tagging\n");
}
}
break;
case TS_TAGGING:
{
do_ik = true;
if ( ik_weight > 0.9f )
sidestep_allowed = true;
ik_target_weight = 1.0f;
// check for sidestep
// if finished, update root position from sidestep displacement
if ( sidestep_running && model.actionDidFinish( SIDESTEP_L_ANIM ) )
{
printf("sidestep l finished\n");
sidestep_running = false;
setRootPosition( root_pos+sidestep_l_root_displacement );
}
if ( sidestep_running && model.actionDidFinish( SIDESTEP_R_ANIM ) )
{
printf("sidestep r finished\n");
sidestep_running = false;
setRootPosition( root_pos+sidestep_r_root_displacement );
}
if ( sidestep_running && model.actionDidFinish( SIDESTEP_BIG_L_ANIM ) )
{
printf("sidestep big l finished\n");
sidestep_running = false;
setRootPosition( root_pos+sidestep_big_l_root_displacement );
}
if ( sidestep_running && model.actionDidFinish( SIDESTEP_BIG_R_ANIM ) )
{
printf("sidestep big r finished\n");
sidestep_running = false;
setRootPosition( root_pos+sidestep_big_r_root_displacement );
}
// wait for sidesteps to finish
if ( !sidestep_running && should_walk_off )
{
state = TS_TURN_TO_WALK;
model.doAction( TURN_TO_WALK_ANIM );
sidestep_allowed = false;
printf(" --> turn_to_walk\n") ;
}
}
break;
case TS_TURN_TO_WALK:
{
do_ik = true;
ik_target_weight = 0.0f;
// check if turn is finished the walkoff
if ( model.actionDidFinish( TURN_TO_WALK_ANIM ) )
{
setRootPosition( root_pos+turn_to_walk_root_displacement );
model.stopCycle( IDLE_ANIM );
model.startCycle( WALK_ANIM );
// push through the new cycle immediately
model.updateAnimation( 0.000001f );
state = TS_WALKOFF;
do_ik = false;
printf(" --> walkoff\n");
}
}
break;
case TS_WALKOFF:
{
if ( model.animationDidLoop( "walk" ) )
{
printf("-- walk looped\n");
setRootPosition( root_pos + walk_root_displacement );
if ( root_pos.x < SCREEN_VISIBLE_RIGHT )
{
state = TS_FINISHED;
model.stopCycle( WALK_ANIM );
}
}
}
break;
case TS_FINISHED:
break;
default:
break;
}
if ( do_ik )
{
// update ik weight
float inc = elapsed*ik_fade_speed;
if ( ik_weight > ik_target_weight )
ik_weight -= min(inc,ik_weight-ik_target_weight);
else
ik_weight += min(inc,ik_target_weight-ik_weight);
// ease in/out
float ik_weight_eased = 0.5f+0.5f*cosf((1.0f-ik_weight)*PI);
//printf("ik weight: target %7.5f, curr %7.5f\n", ik_target_weight, ik_weight );
//ik_weight += (ik_target_weight-ik_weight)*speed;
character.pullFromModel();
character.solve( 2 );
character.pushToModel( true, ik_weight_eased );
model.updateMesh();
CalVector arm_actual_position = model.getBonePosition( tag_arm );
ofxVec3f arm_target = character.getTarget(tag_arm);
CalVector bone_target_delta = CalVector(arm_target.x,arm_target.y,arm_target.z)-arm_actual_position;
// vertical distance has less effect
bone_target_delta.y *= 0.5f;
float distance = bone_target_delta.length();
float discomfort = distance/COMFORT_DISTANCE_THRESH;
if ( discomfort > 1.0f && !sidestep_running && sidestep_allowed )
{
// need to move feet
string anim;
if ( bone_target_delta.x < 0 )
{
if (bone_target_delta.x < -0.75f )
anim = SIDESTEP_BIG_L_ANIM;
else
anim = SIDESTEP_L_ANIM;
}
else
{
if (bone_target_delta.x > 0.75f )
anim = SIDESTEP_BIG_R_ANIM;
else
anim = SIDESTEP_R_ANIM;
}
printf("starting %s, target delta is %f, discomfort %f\n", anim.c_str(), bone_target_delta.x, discomfort );
model.doAction( anim, 1.0f );
sidestep_running = true;
}
last_discomfort = discomfort;
}
else
last_discomfort = 100.0f;
}
void CalCoreBone::calculateBoundingBox(CalCoreModel * pCoreModel)
{
int boneId = m_pCoreSkeleton->getCoreBoneId(m_strName);
bool bBoundsComputed=false;
int planeId;
CalQuaternion rot;
rot=m_rotationBoneSpace;
rot.invert();
CalVector dir = CalVector(1.0f,0.0f,0.0f);
dir*=rot;
m_boundingBox.plane[0].setNormal(dir);
dir = CalVector(-1.0f,0.0f,0.0f);
dir*=rot;
m_boundingBox.plane[1].setNormal(dir);
dir = CalVector(0.0f,1.0f,0.0f);
dir*=rot;
m_boundingBox.plane[2].setNormal(dir);
dir = CalVector(0.0f,-1.0f,0.0f);
dir*=rot;
m_boundingBox.plane[3].setNormal(dir);
dir = CalVector(0.0f,0.0f,1.0f);
dir*=rot;
m_boundingBox.plane[4].setNormal(dir);
dir = CalVector(0.0f,0.0f,-1.0f);
dir*=rot;
m_boundingBox.plane[5].setNormal(dir);
int meshId;
for(meshId=0; meshId < pCoreModel->getCoreMeshCount(); ++meshId)
{
CalCoreMesh * pCoreMesh = pCoreModel->getCoreMesh(meshId);
int submeshId;
for(submeshId=0;submeshId<pCoreMesh->getCoreSubmeshCount();submeshId++)
{
CalCoreSubmesh *pCoreSubmesh = pCoreMesh->getCoreSubmesh(submeshId);
if(pCoreSubmesh->getSpringCount()==0)
{
std::vector<CalCoreSubmesh::Vertex>& vectorVertex = pCoreSubmesh->getVectorVertex();
for(size_t vertexId=0;vertexId <vectorVertex.size(); ++vertexId)
{
for(size_t influenceId=0;influenceId<vectorVertex[vertexId].vectorInfluence.size();++influenceId)
{
if(vectorVertex[vertexId].vectorInfluence[influenceId].boneId == boneId && vectorVertex[vertexId].vectorInfluence[influenceId].weight > 0.5f)
{
for(planeId = 0; planeId < 6; ++planeId)
{
if(m_boundingBox.plane[planeId].eval(vectorVertex[vertexId].position) < 0.0f)
{
m_boundingBox.plane[planeId].setPosition(vectorVertex[vertexId].position);
m_boundingPosition[planeId]=vectorVertex[vertexId].position;
bBoundsComputed=true;
}
}
}
}
}
}
}
}
// To handle bones with no vertices assigned
if(!bBoundsComputed)
{
for(planeId = 0; planeId < 6; ++planeId)
{
m_boundingBox.plane[planeId].setPosition(m_translation);
m_boundingPosition[planeId] = m_translation;
}
}
m_boundingBoxPrecomputed = true;
}
void CalCoreSkeleton::rotate(CalQuaternion &rot) {
cal3d::RotateTranslate rt(rot, CalVector(0, 0, 0));
rotateTranslate(rt);
}