void Skeleton::Draw( DebugRenderer& rend )
{
ColorRGBA color = ColorRGBA::Green;
for( u32 i = 0; i < m_joint_count; ++i )
{
SkeletonJoint& joint = m_joints[i];
Matrix4x4 bind_pose = joint.GetInvBindPose();
bind_pose.InverseIt();
Vec4 pos = bind_pose * Vec4(0.f, 0.f, 0.f, 1.f);
rend.AddAxis(bind_pose, 0.5f);
// draw parent-child connection (if applicable).
if( joint.GetParentIndex() != (u32)-1 && joint.GetParentIndex() < m_joint_count )
{
SkeletonJoint& parent = m_joints[joint.GetParentIndex()];
Matrix4x4 parent_bind_pose = parent.GetInvBindPose();
parent_bind_pose.InverseIt();
Vec4 parent_pos = parent_bind_pose * Vec4(0.f, 0.f, 0.f, 1.f);
rend.AddLine(Vec3(pos.x, pos.y, pos.z), Vec3(parent_pos.x, parent_pos.y, parent_pos.z), color);
}
}
}
void GameApplication::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
// If draw debug mode is enabled, draw viewport debug geometry. Disable depth test so that we can see the effect of occlusion
if (drawDebug_)
{
GetSubsystem<Renderer>()->DrawDebugGeometry(false);
}
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
//4
for(int i = 0;i < 5;i ++)
{
//横线
debug->AddLine(Vector3(- 2,0,i - 2),Vector3(2,0,i - 2),Color::YELLOW);
//竖线
debug->AddLine(Vector3(i - 2,0,- 2),Vector3(i - 2,0,2),Color::GREEN);
}
}
void GameMain::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
#if 0 // debug waypoints trigger
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
if (world.flyingBot.aiWaypoints_.Size() > 1)
for(int i=0; i < world.flyingBot.aiWaypoints_.Size()-1; ++i)
{
debug->AddLine(world.flyingBot.aiWaypoints_[i]->GetWorldPosition(),world.flyingBot.aiWaypoints_[i+1]->GetWorldPosition(), Color(1.0f, 1.0f, 0.0f));
}
debug->AddLine(world.flyingBot.aiWaypoints_[0]->GetWorldPosition(),world.flyingBot.aiWaypoints_[world.flyingBot.aiWaypoints_.Size()-1]->GetWorldPosition(), Color(1.0f, 1.0f, 0.0f));
if (world.flyingBot.botSplinePath_ != NULL)
world.flyingBot.botSplinePath_->DrawDebugGeometry(debug, true);
#endif
}
void Navigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
// If draw debug mode is enabled, draw navigation mesh debug geometry
if (drawDebug_)
scene_->GetComponent<NavigationMesh>()->DrawDebugGeometry(true);
if (currentPath_.Size())
{
// Visualize the current calculated path
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
debug->AddBoundingBox(BoundingBox(endPos_ - Vector3(0.1f, 0.1f, 0.1f), endPos_ + Vector3(0.1f, 0.1f, 0.1f)),
Color(1.0f, 1.0f, 1.0f));
// Draw the path with a small upward bias so that it does not clip into the surfaces
Vector3 bias(0.0f, 0.05f, 0.0f);
debug->AddLine(jackNode_->GetPosition() + bias, currentPath_[0] + bias, Color(1.0f, 1.0f, 1.0f));
if (currentPath_.Size() > 1)
{
for (unsigned i = 0; i < currentPath_.Size() - 1; ++i)
debug->AddLine(currentPath_[i] + bias, currentPath_[i + 1] + bias, Color(1.0f, 1.0f, 1.0f));
}
}
}
void Navigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
// If draw debug mode is enabled, draw navigation mesh debug geometry
if (drawDebug_)
scene_->GetComponent<NavigationMesh>()->DrawDebugGeometry(true);
// Visualize the start and end points and the last calculated path
DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
if (startPosDefined_)
debug->AddBoundingBox(BoundingBox(startPos_ - 0.1f * Vector3::ONE, startPos_ + 0.1f * Vector3::ONE), Color::WHITE);
if (endPosDefined_)
debug->AddBoundingBox(BoundingBox(endPos_ - 0.1f * Vector3::ONE, endPos_ + 0.1f * Vector3::ONE), Color::WHITE);
if (currentPath_.Size() > 1)
{
// Draw the path with a small upward bias so that it does not clip into the surfaces
Vector3 bias = 0.05f * Vector3::UP;
for (unsigned i = 0; i < currentPath_.Size() - 1; ++i)
debug->AddLine(currentPath_[i] + bias, currentPath_[i + 1] + bias, Color::WHITE);
}
}
void EnemyEntity::UpdateCast()
{
DebugRenderer* debug = GetScene()->GetComponent<DebugRenderer>();
PhysicsWorld2D* physicsWorld = GetScene()->GetComponent<PhysicsWorld2D>();
RigidBody2D* body = GetComponent<RigidBody2D>();
/*cast ground*/
Vector2 originpos = node_->GetPosition2D();
Vector2 FinishC;
Vector2 FinishD;
if(!isLeft)
{
FinishC = originpos + Vector2(-0.60,-0.35);
FinishD = originpos + Vector2(-0.60,0);
}
else
{
FinishC = originpos + Vector2(0.60,-0.35);
FinishD = originpos + Vector2(0.60,0);
}
PhysicsRaycastResult2D RayCastC;
physicsWorld->RaycastSingle(RayCastC, originpos , FinishC,1);
if ( !RayCastC.body_ && body->GetLinearVelocity().y_ >= -0.05f)
{
SetReturn();
}
PhysicsRaycastResult2D RayCastD;
physicsWorld->RaycastSingle(RayCastD, originpos , FinishD,1);
if ( RayCastD.body_)
{
SetReturn();
}
/*end cast ground*/
/*cast player*/
if(!isBusy && !isCooldDown)
{
Node* target = GetScene()->GetChild("Player",false);
if(target)
{
Vector2 targetpos = target->GetPosition2D();
Vector2 direction = targetpos - originpos;
direction.Normalize();
Vector2 FinishT = originpos + Vector2(direction.x_*2.5f,direction.y_*2.5);
PhysicsRaycastResult2D RayCastT;
physicsWorld->RaycastSingle(RayCastT, originpos , FinishT, 4);
if (RayCastT.body_)
{
Node* node = RayCastT.body_->GetNode();
if(node->GetName() == "Player")
{
if(direction.x_ < 0)
setRight();
else
setLeft();
SetAtack();
}
}
debug->AddLine( Vector3(originpos.x_, originpos.y_,0),
Vector3(FinishT.x_, FinishT.y_,0),
Color(0, 1, 1, 1),
false );
}
}
/*end castplayer*/
debug->AddLine( Vector3(originpos.x_, originpos.y_,0),
Vector3(FinishC.x_, FinishC.y_,0),
Color(1, 0, 0, 1),
false );
debug->AddLine( Vector3(originpos.x_, originpos.y_,0),
Vector3(FinishD.x_, FinishD.y_,0),
Color(1, 0, 0, 1),
false );
}
bool IK::Solve(Vector3 targetPos)
{
//http://mrl.nyu.edu/~perlin/gdc/ik/ik.java.html
//Get nodes
Node* hip = effector_->GetParent()->GetParent();
Node* knee = effector_->GetParent();
// Get current world position for the 3 joints of the IK chain
Vector3 hipPos = hip->GetWorldPosition(); // Thigh pos (hip joint)
Vector3 kneePos = knee->GetWorldPosition(); // Calf pos (knee joint)
Vector3 effectorPos = effector_->GetWorldPosition(); // Foot pos (ankle joint)
// Pre IK Direction vectors
Vector3 thighDir = kneePos - hipPos; // Thigh direction
Vector3 calfDir = effectorPos - kneePos; // Calf direction
// Vectors lengths
float A = Vector3(thighDir).Length();//length of hip to knee
float B = Vector3(calfDir).Length();//length of knee to foot
Vector3 P = hip->WorldToLocal(targetPos);//target at origin
Vector3 D = hip->WorldToLocal(kneePos);//pre solve knee at origin
//float limbLength = length1 + length2;
//float lengthH = targetDir.Length();
//PERLINS STUFF
//bool test = Perlin(A,B,C,D);
//GetSubsystem<DebugHud>()->SetAppStats("ik:", String(test) );
//------
Vector3 R;
DefineM(P,D);
R = Rot(Minv,P);
//FIND D
float c = R.Length();
float d = Max(0.0f, Min(A, (c + (A*A-B*B)/c) / 2.0f));//FindD(A,B,R.Length());
//FIND E
float e = sqrtf(A*A-d*d);//FindE(A,d);
Vector3 S = Vector3(d,e,0.0f);
Vector3 Q = Rot(Mfwd,S);
//Convert Q back to world space
Vector3 worldQ = effector_->GetParent()->GetParent()->LocalToWorld(Q);
//Get angles
Vector3 tdn = thighDir.Normalized();
Vector3 ntdn = Vector3(worldQ-hipPos).Normalized();
Vector3 cdn = calfDir.Normalized();
Vector3 ncdn = Vector3(targetPos-worldQ).Normalized();
//Vector3 hipAxis = tdn.CrossProduct(ntdn);
//float hipAngle = tdn.Angle(ntdn);
//Vector3 kneeAxis = cdn.CrossProduct(ncdn);
//float kneeAngle = cdn.Angle(ncdn);
//GetSubsystem<DebugHud>()->SetAppStats("ik:", String(hipAngle)+":"+String(kneeAngle) );
//knee->SetWorldRotation(knee->GetWorldRotation() * Quaternion(kneeAngle,kneeAxis) );
//hip->SetWorldRotation(hip->GetWorldRotation() * Quaternion(hipAngle,hipAxis) );
//do top level first, then get new angle for lower level, since it might mangle it
bool success = d > 0.0f && d < A;
if(success)
{
Quaternion hipRot = Quaternion(tdn,ntdn);
hip->Rotate(hipRot,TS_WORLD );
knee->Rotate(Quaternion(cdn,ncdn)*hipRot.Inverse(),TS_WORLD );
}
if(drawDebug_)
{
DebugRenderer* dbg = effector_->GetScene()->GetComponent<DebugRenderer>();
/*dbg->AddLine(hipPos,hipPos+tdn,Color(0.0f,1.0f,0.0f),false);
dbg->AddLine(hipPos,hipPos+ntdn,Color(0.0f,0.0f,1.0f),false);
dbg->AddLine(kneePos,kneePos+cdn,Color(0.0f,1.0f,0.0f),false);
dbg->AddLine(kneePos,kneePos+ncdn,Color(0.0f,0.0f,1.0f),false);
dbg->AddSphere(Sphere(effectorPos,0.2f),Color(0.0f,1.0f,0.0f),false);
dbg->AddSphere(Sphere(targetPos,0.2f),Color(0.0f,0.0f,1.0f),false);*/
//at origin
/*dbg->AddSphere(Sphere(Vector3(),0.2f),Color(0.0f,0.0f,0.0f),false);//origin
dbg->AddSphere(Sphere(D,0.2f),Color(0.1f,0.0f,0.0f),false);//old elbow
dbg->AddSphere(Sphere(P,0.2f),Color(0.0f,1.0f,0.0f),false);//target
dbg->AddLine(Vector3(),P,Color(0.1f,0.1f,0.1f),false);
//show solve at origin
dbg->AddSphere(Sphere(Q,0.2f),Color(1.0f,0.0f,0.0f),false);
dbg->AddLine(Vector3(),Q,Color(1.0f,0.0f,0.0f),false);
dbg->AddLine(Q,P,Color(1.0f,0.0f,0.0f),false);*/
//show solve at position
dbg->AddSphere(Sphere(worldQ,0.2f),Color(1.0f,0.0f,0.0f),false);
dbg->AddSphere(Sphere(targetPos,0.2f),Color(0.0f,1.0f,0.0f),false);
dbg->AddLine(hipPos,worldQ,Color(1.0f,0.0f,0.0f),false);
dbg->AddLine(worldQ,targetPos,Color(1.0f,0.0f,0.0f),false);
}
return success;
}
