void Robot::lookAtBehind(const Math::Angle &angle) {
float targetAngle;
if (angle.rad() > 0.0f)
targetAngle = angle.rad() - Math::PI;
else
targetAngle = angle.rad() + Math::PI;
lookAt(Math::Rad(targetAngle));
}
float Movement::computeAngleBetweenVectorsXYPlane(const Math::Vector3d &v1, const Math::Vector3d &v2) const {
Math::Vector3d v1XY = v1;
v1XY.z() = 0.0;
Math::Vector3d v2XY = v2;
v2XY.z() = 0.0;
Math::Angle angle = Math::Vector3d::angle(v1XY, v2XY);
Math::Vector3d cross = Math::Vector3d::crossProduct(v1XY, v2XY);
if (cross.z() < 0) {
angle = -angle;
}
return angle.getDegrees();
}
bool KeyframeAnim::KeyframeNode::animate(ModelNode &node, float frame, float fade, bool useDelta) const {
if (_numEntries == 0)
return false;
// Do a binary search for the nearest previous frame
// Loop invariant: entries_[low].frame_ <= frame < entries_[high].frame_
int low = 0, high = _numEntries;
while (high > low + 1) {
int mid = (low + high) / 2;
if (_entries[mid]._frame <= frame)
low = mid;
else
high = mid;
}
float dt = frame - _entries[low]._frame;
Math::Vector3d pos = _entries[low]._pos;
Math::Angle pitch = _entries[low]._pitch;
Math::Angle yaw = _entries[low]._yaw;
Math::Angle roll = _entries[low]._roll;
/** @bug Interpolating between two orientations specified by Euler angles (yaw/pitch/roll)
* by linearly interpolating the YPR values does not compute proper in-between
* poses, i.e. the rotation from start to finish does not go via the shortest arc.
* Though, if the start and end poses are very similar to each other, this can look
* acceptable without visual artifacts.
*/
if (useDelta) {
pos += dt * _entries[low]._dpos;
pitch += dt * _entries[low]._dpitch;
yaw += dt * _entries[low]._dyaw;
roll += dt * _entries[low]._droll;
}
node._animPos += (pos - node._pos) * fade;
Math::Angle dpitch = pitch - node._pitch;
node._animPitch += dpitch.normalize(-180) * fade;
Math::Angle dyaw = yaw - node._yaw;
node._animYaw += dyaw.normalize(-180) * fade;
Math::Angle droll = roll - node._roll;
node._animRoll += droll.normalize(-180) * fade;
return true;
}
void Robot::lookAt(const Math::Angle &angle) {
setTargetOmega(Math::limit(angle.rad() * Config::lookAtP, Math::degToRad(Config::lookAtMaxSpeedAngle) * Config::lookAtP));
}
void Robot::setTargetDir(const Math::Angle &dir, float speed, float omega) {
Math::Vector dirVector = Math::Vector::createForwardVec(dir.rad(), speed);
setTargetDir(dirVector.x, dirVector.y, omega);
}
void Head::lookAt(bool entering, const Math::Vector3d &point, float rate, const Math::Matrix4 &matrix) {
if (_joint1Node) {
float step = g_grim->getPerSecond(rate);
float yawStep = step;
float pitchStep = step / 3.f;
if (!entering) {
//animate yaw
if (_headYaw > yawStep) {
_headYaw -= yawStep;
} else if (_headYaw < -yawStep) {
_headYaw += yawStep;
} else {
_headYaw = 0;
}
//animate pitch
if (_headPitch > pitchStep) {
_headPitch -= pitchStep;
} else if (_headPitch < -pitchStep) {
_headPitch += pitchStep;
} else {
_headPitch = 0;
}
_joint1Node->_animYaw = _headYaw;
Math::Angle pi = _headPitch / 3.f;
_joint1Node->_animPitch += pi;
_joint2Node->_animPitch += pi;
_joint3Node->_animPitch += pi;
_joint1Node->_animRoll = (_joint1Node->_animYaw.getDegrees() / 20.f) *
_headPitch.getDegrees() / -5.f;
if (_joint1Node->_animRoll > _maxRoll)
_joint1Node->_animRoll = _maxRoll;
if (_joint1Node->_animRoll < -_maxRoll)
_joint1Node->_animRoll = -_maxRoll;
return;
}
ModelNode *p = _joint3Node;
while (p->_parent) {
p = p->_parent;
}
p->setMatrix(matrix);
p->update();
Math::Vector3d v = point - _joint3Node->_matrix.getPosition();
if (v.isZero()) {
return;
}
float magnitude = sqrt(v.x() * v.x() + v.y() * v.y());
float a = v.x() / magnitude;
float b = v.y() / magnitude;
float yaw;
yaw = acos(a) * (180.0f / LOCAL_PI);
if (b < 0.0f)
yaw = 360.0f - yaw;
Math::Angle bodyYaw = matrix.getYaw();
p = _joint1Node->_parent;
while (p) {
bodyYaw += p->_yaw + p->_animYaw;
p = p->_parent;
}
_joint1Node->_animYaw = (- 90 + yaw - bodyYaw);
if (_joint1Node->_animYaw < -180.) {
_joint1Node->_animYaw += 360;
}
if (_joint1Node->_animYaw > 180.) {
_joint1Node->_animYaw -= 360;
}
if (_joint1Node->_animYaw > _maxYaw)
_joint1Node->_animYaw = _maxYaw;
if (_joint1Node->_animYaw < -_maxYaw)
_joint1Node->_animYaw = -_maxYaw;
float sqLenght = v.x() * v.x() + v.y() * v.y();
float h;
if (sqLenght > 0) {
h = sqrt(sqLenght);
} else {
h = -sqrt(sqLenght);
}
magnitude = sqrt(v.z() * v.z() + h * h);
a = h / magnitude;
b = v.z() / magnitude;
Math::Angle pitch;
pitch = acos(a) * (180.0f / LOCAL_PI);
if (b < 0.0f)
pitch = 360.0f - pitch;
if (pitch > 180)
pitch -= 360;
if (pitch > _maxPitch)
pitch = _maxPitch;
if (pitch < -_maxPitch)
pitch = -_maxPitch;
if ((_joint1Node->_animYaw > 0 && pitch < 0) || (_joint1Node->_animYaw < 0 && pitch > 0)) {
pitch += _joint1Node->_animYaw / 10.f;
} else {
pitch -= _joint1Node->_animYaw / 10.f;
}
//animate pitch
if (pitch - _headPitch > pitchStep)
pitch = _headPitch + pitchStep;
if (_headPitch - pitch > pitchStep)
pitch = _headPitch - pitchStep;
Math::Angle pi = pitch / 3.f;
_joint1Node->_animPitch += pi;
_joint2Node->_animPitch += pi;
_joint3Node->_animPitch += pi;
//animate yaw
if (_joint1Node->_animYaw - _headYaw > yawStep)
_joint1Node->_animYaw = _headYaw + yawStep;
if (_headYaw - _joint1Node->_animYaw > yawStep)
_joint1Node->_animYaw = _headYaw - yawStep;
_joint1Node->_animRoll = (_joint1Node->_animYaw.getDegrees() / 20.f) *
pitch.getDegrees() / -5.f;
if (_joint1Node->_animRoll > _maxRoll)
_joint1Node->_animRoll = _maxRoll;
if (_joint1Node->_animRoll < -_maxRoll)
_joint1Node->_animRoll = -_maxRoll;
_headPitch = pitch;
_headYaw = _joint1Node->_animYaw;
}
}
void Actor::update(uint frameTime) {
// Snap actor to walkboxes if following them. This might be
// necessary for example after activating/deactivating
// walkboxes, etc.
if (_constrain && !_walking) {
g_grim->getCurrSet()->findClosestSector(_pos, NULL, &_pos);
}
if (_turning) {
float turnAmt = g_grim->getPerSecond(_turnRate) * 5.f;
Math::Angle dyaw = _moveYaw - _yaw;
dyaw.normalize(-180);
// If the actor won't turn because the rate is set to zero then
// have the actor turn all the way to the destination yaw.
// Without this some actors will lock the interface on changing
// scenes, this affects the Bone Wagon in particular.
if (turnAmt == 0 || turnAmt >= fabsf(dyaw.getDegrees())) {
setYaw(_moveYaw);
_turning = false;
} else if (dyaw > 0) {
setYaw(_yaw + turnAmt);
} else {
setYaw(_yaw - turnAmt);
}
_currTurnDir = (dyaw > 0 ? 1 : -1);
}
if (_walking) {
updateWalk();
}
if (_walkChore.isValid()) {
if (_walkedCur) {
if (!_walkChore.isPlaying()) {
_walkChore.playLooping(true);
}
if (_restChore.isPlaying()) {
_restChore.stop(true);
}
} else {
if (_walkedLast && _walkChore.isPlaying()) {
_walkChore.stop(true);
if (!_restChore.isPlaying()) {
_restChore.playLooping(true);
}
}
}
}
if (_leftTurnChore.isValid()) {
if (_walkedCur || _walkedLast)
_currTurnDir = 0;
if (_restChore.isValid()) {
if (_currTurnDir != 0) {
if (getTurnChore(_currTurnDir)->isPlaying() && _restChore.isPlaying()) {
_restChore.stop(true, 500);
}
} else if (_lastTurnDir != 0) {
if (!_walkedCur && getTurnChore(_lastTurnDir)->isPlaying()) {
_restChore.playLooping(true);
}
}
}
if (_lastTurnDir != 0 && _lastTurnDir != _currTurnDir) {
getTurnChore(_lastTurnDir)->stop(true);
}
if (_currTurnDir != 0 && _currTurnDir != _lastTurnDir) {
getTurnChore(_currTurnDir)->playLooping(true, 500);
}
} else {
_currTurnDir = 0;
}
// The rest chore might have been stopped because of a
// StopActorChore(nil). Restart it if so.
if (!_walkedCur && _currTurnDir == 0 && !_restChore.isPlaying()) {
_restChore.playLooping(true);
}
_walkedLast = _walkedCur;
_walkedCur = false;
_lastTurnDir = _currTurnDir;
_currTurnDir = 0;
// Update lip syncing
if (_lipSync) {
int posSound;
// While getPosIn60HzTicks will return "-1" to indicate that the
// sound is no longer playing, it is more appropriate to check first
if (g_grim->getSpeechMode() != GrimEngine::TextOnly && g_sound->getSoundStatus(_talkSoundName.c_str()))
posSound = g_sound->getPosIn60HzTicks(_talkSoundName.c_str());
else
posSound = -1;
if (posSound != -1) {
int anim = _lipSync->getAnim(posSound);
if (_talkAnim != anim) {
if (anim != -1) {
if (_talkChore[anim].isValid()) {
stopMumbleChore();
if (_talkAnim != -1) {
_talkChore[_talkAnim].stop();
}
// Run the stop_talk chore so that it resets the components
// to the right visibility.
stopTalking();
_talkAnim = anim;
_talkChore[_talkAnim].play();
} else if (_mumbleChore.isValid() && !_mumbleChore.isPlaying()) {
_mumbleChore.playLooping();
_talkAnim = -1;
}
} else {
stopMumbleChore();
if (_talkAnim != -1)
_talkChore[_talkAnim].stop();
_talkAnim = 0;
stopTalking();
}
}
}
}
frameTime = (uint)(frameTime * _timeScale);
for (Common::List<Costume *>::iterator i = _costumeStack.begin(); i != _costumeStack.end(); ++i) {
Costume *c = *i;
c->setPosRotate(_pos, _pitch, _yaw, _roll);
int marker = c->update(frameTime);
if (marker > 0) {
costumeMarkerCallback(marker);
}
}
for (Common::List<Costume *>::iterator i = _costumeStack.begin(); i != _costumeStack.end(); ++i) {
Costume *c = *i;
c->animate();
}
for (Common::List<Costume *>::iterator i = _costumeStack.begin(); i != _costumeStack.end(); ++i) {
Costume *c = *i;
c->moveHead(_lookingMode, _lookAtVector);
}
}