/*
================
sdScriptedEntityHelper_Aimer::Update
================
*/
void sdScriptedEntityHelper_Aimer::Update( bool force ) {
if ( gunJoints[ AIMER_JOINT_YAW ] == gunJoints[ AIMER_JOINT_PITCH ] ) {
bool changed = false;
changed |= UpdateAngles( yawInfo, force );
changed |= UpdateAngles( pitchInfo, force );
if ( changed ) {
idMat3 yawAxes, pitchAxes;
idAngles::YawToMat3( yawInfo.current, yawAxes );
idAngles::PitchToMat3( pitchInfo.current, pitchAxes );
yawAxes *= pitchAxes;
yawAxes = baseAxes[ AIMER_JOINT_YAW ] * yawAxes * yawTranspose;
_owner->GetAnimator()->SetJointAxis( gunJoints[ AIMER_JOINT_YAW ], JOINTMOD_LOCAL, yawAxes );
}
} else {
if ( UpdateAngles( yawInfo, force ) ) {
idMat3 yawAxes;
idAngles::YawToMat3( yawInfo.current, yawAxes );
yawAxes = baseAxes[ AIMER_JOINT_YAW ] * yawAxes * yawTranspose;
_owner->GetAnimator()->SetJointAxis( gunJoints[ AIMER_JOINT_YAW ], JOINTMOD_LOCAL, yawAxes );
}
if ( UpdateAngles( pitchInfo, force ) ) {
idMat3 pitchAxes;
idAngles::PitchToMat3( pitchInfo.current, pitchAxes );
pitchAxes = baseAxes[ AIMER_JOINT_PITCH ] * pitchAxes * pitchTranspose;
_owner->GetAnimator()->SetJointAxis( gunJoints[ AIMER_JOINT_PITCH ], JOINTMOD_LOCAL, pitchAxes );
}
}
}
void CDofEditing::OnBnClickedDofreset()
{
m_Yaw=m_Pitch=m_Roll=0.0f;
m_Dof->dof.translation.x=m_Dof->dof.translation.y=m_Dof->dof.translation.z=0.0f;
m_Dof->dof.scale.x=m_Dof->dof.scale.y=m_Dof->dof.scale.z=0.0f;
UpdateAngles();
}
void CDofEditing::OnBnClickedDofdegrees()
{
m_Dof->dof.flags|=(m_DofDegrees.GetCheck())?XDOF_ISDOF:0;
m_Dof->dof.flags&=(!m_DofDegrees.GetCheck())?~XDOF_ISDOF:0xffffffff;
UpdateAngles();
}
//----------------------------
bool CEmitter::Update()
{
// Game pausing can cause dumb time things to happen, so kill the effect in this instance
if ( mTimeStart > theFxHelper.mTime )
{
return false;
}
// Use this to track if we've stopped moving
VectorCopy( mOrigin1, mOldOrigin );
VectorCopy( mVel, mOldVelocity );
if (( mTimeStart < theFxHelper.mTime ) && UpdateOrigin() == false )
{
// we are marked for death
return false;
}
// If the thing is no longer moving, kill the angle delta, but don't do it too quickly or it will
// look very artificial. Don't do it too slowly or it will look like there is no friction.
if ( VectorCompare( mOldOrigin, mOrigin1 ))
{
VectorScale( mAngleDelta, 0.7f, mAngleDelta );
}
UpdateAngles();
UpdateSize();
// UpdateRGB(); // had wanted to do something slick whereby an emitted effect could somehow inherit these
// UpdateAlpha(); // values, but it's not a priority right now.
Draw();
return true;
}
void CDofEditing::OnBnClickedDofinvcheck()
{
// TODO: Add your control notification handler code here
m_Dof->dof.flags|=(m_DofInvCheck.GetCheck())?XDOF_NEGATE:0;
m_Dof->dof.flags&=(!m_DofInvCheck.GetCheck())?~XDOF_NEGATE:0xffffffff;
UpdateAngles();
}
void CDofEditing::OnDeltaposPitchspin(NMHDR *pNMHDR, LRESULT *pResult)
{
LPNMUPDOWN pNMUpDown = reinterpret_cast<LPNMUPDOWN>(pNMHDR);
// TODO: Add your control notification handler code here
*pResult = 0;
signed int Cx=(signed short)(m_PitchSpin.GetPos()&0xffff);
m_PitchSpin.SetPos(0);
m_Pitch+=(D3DXToRadian((float)Cx)/100);
UpdateAngles();
}
void CDofEditing::OnToolsPastedof()
{
// TODO: Add your command handler code here
if(m_DofCopy.dofNumber!=-1){
DWORD DofNr=m_Dof->dof.dofNumber;
m_Dof->dof=m_DofCopy;
m_Dof->dof.dofNumber=DofNr;
}
UpdateAngles();
}
void CDofEditing::OnDeltaposCxspin(NMHDR *pNMHDR, LRESULT *pResult)
{
LPNMUPDOWN pNMUpDown = reinterpret_cast<LPNMUPDOWN>(pNMHDR);
// TODO: Add your control notification handler code here
*pResult = 0;
signed int Cx=(signed short)(m_CxSpin.GetPos()&0xffff);
m_CxSpin.SetPos(0);
m_Dof->dof.multiplier+=((float)Cx)/1000;
UpdateAngles();
}
void CDofEditing::OnToolsChangedofnumber()
{
// TODO: Add your command handler code here
CString NewDof;
CString Mex="Input the new DOF Number";
CInputBox *Box;
Box=new CInputBox(this, &NewDof, &Mex );
int Result=Box->DoModal();
delete Box;
if(Result==IDOK){
m_Dof->dof.dofNumber=atoi(NewDof);
TheTreeViews->UpdateItemLabel(m_Dof->TreeItem);
}
UpdateAngles();
}
void CDofEditing::EditDof(E_Object *Object, DXDof *Dof)
{
m_Dof=Dof;
m_OriginalDof=Dof->dof;
m_Object=Object;
if(!m_Object) {
ShowWindow(SW_HIDE);
return;
}
m_DofList.SetCurSel(2);
m_DofSlider.SetPos((int)D3DXToDegree((float)m_Object->Obj->DOFValues[m_Dof->dof.dofNumber].rotation));
ShowWindow(SW_SHOW);
GetOriginalAngles();
UpdateAngles();
}
void CDofEditing::OnToolsApplychanges()
{
m_Dof->dof.flags=m_DofRef.flags;
m_Dof->dof.translation.x+=m_DofRef.translation.x;
m_Dof->dof.translation.y+=m_DofRef.translation.y;
m_Dof->dof.translation.z+=m_DofRef.translation.z;
m_Dof->dof.scale.x+=m_DofRef.scale.x;
m_Dof->dof.scale.y+=m_DofRef.scale.y;
m_Dof->dof.scale.z+=m_DofRef.scale.z;
for(DWORD a=0; a<4; a++){
for(DWORD b=0; b<4; b++){
m_Dof->dof.rotation.m[a][b]+=m_DofRef.rotation.m[a][b];
}
}
m_Dof->dof.max+=m_DofRef.max;
m_Dof->dof.min+=m_DofRef.min;
m_Dof->dof.multiplier+=m_DofRef.multiplier;
m_Dof->dof.max+=m_DofRef.max;
UpdateAngles();
}
void CDofEditing::DofMoveFunction(D3DXVECTOR3 Transform, D3DXVECTOR3 Move, bool Remove)
{
if(Remove){
m_bDofMove=false;
m_DofMoveButton.SetCheck(m_bDofMove);
MoveFunction=NULL;
return;
}
m_Dof->dof.translation.x+=Move.x;
m_Dof->dof.translation.y+=Move.y;
m_Dof->dof.translation.z+=Move.z;
m_Yaw+=Transform.x;
m_Pitch+=Transform.y;
m_Roll+=Transform.z;
UpdateAngles();
}
WizualizacjaWahadla::WizualizacjaWahadla( QWidget *wRodzic ): QWidget( wRodzic ){
param.q[0] = -90; param.q[1] = -90; param.q[2] = 0; param.q[3] = 0;
param.l[0] = 6; param.l[1] = 3;
param.m[0] = 5; param.m[1] = 4;
S = new Wahadlo( this );
B = new QPushButton( this );
B->resize( 100, 30 );
B->move( 500, 300 );
B->setText("Apply Force");
connect(S, SIGNAL(UpdateAngles(PendulumParameters)), this, SLOT(fresh(PendulumParameters)));
connect(B, SIGNAL(pressed()), S, SLOT(ApplyForce()));
connect(B, SIGNAL(released()), S, SLOT(ReleaseForce()));
setPalette( QPalette(Qt::white) );
setAutoFillBackground( true );
update();
}
void CDofEditing::OnBnClickedDofrestore()
{
m_Dof->dof=m_OriginalDof;
UpdateAngles();
}
void CDofEditing::OnBnClickedDoflimits()
{
m_Dof->dof.flags|=(m_DofLimits.GetCheck())?XDOF_MINMAX:0;
m_Dof->dof.flags&=(!m_DofLimits.GetCheck())?~XDOF_MINMAX:0xffffffff;
UpdateAngles();
}
void CDofEditing::OnBnClickedRoll5p()
{
m_Roll+=D3DXToRadian(5);
UpdateAngles();
}
void CDofEditing::OnBnClickedPitch5p()
{
m_Pitch+=D3DXToRadian(5);
UpdateAngles();
}
void CDofEditing::OnBnClickedYaw5p()
{
m_Yaw+=D3DXToRadian(5);
UpdateAngles();
}
bool IK_QJacobianSolver::Solve(
IK_QSegment *root,
std::list<IK_QTask *> tasks,
const MT_Scalar,
const int max_iterations
)
{
float scale = ComputeScale();
bool solved = false;
//double dt = analyze_time();
Scale(scale, tasks);
ConstrainPoleVector(root, tasks);
root->UpdateTransform(m_rootmatrix);
// iterate
for (int iterations = 0; iterations < max_iterations; iterations++) {
// update transform
root->UpdateTransform(m_rootmatrix);
std::list<IK_QTask *>::iterator task;
// compute jacobian
for (task = tasks.begin(); task != tasks.end(); task++) {
if ((*task)->Primary())
(*task)->ComputeJacobian(m_jacobian);
else
(*task)->ComputeJacobian(m_jacobian_sub);
}
MT_Scalar norm = 0.0;
do {
// invert jacobian
try {
m_jacobian.Invert();
if (m_secondary_enabled)
m_jacobian.SubTask(m_jacobian_sub);
}
catch (...) {
fprintf(stderr, "IK Exception\n");
return false;
}
// update angles and check limits
} while (UpdateAngles(norm));
// unlock segments again after locking in clamping loop
std::vector<IK_QSegment *>::iterator seg;
for (seg = m_segments.begin(); seg != m_segments.end(); seg++)
(*seg)->UnLock();
// compute angle update norm
MT_Scalar maxnorm = m_jacobian.AngleUpdateNorm();
if (maxnorm > norm)
norm = maxnorm;
// check for convergence
if (norm < 1e-3 && iterations > 10) {
solved = true;
break;
}
}
if (m_poleconstraint)
root->PrependBasis(m_rootmatrix.getBasis());
Scale(1.0f / scale, tasks);
//analyze_add_run(max_iterations, analyze_time()-dt);
return solved;
}
void CDofEditing::OnBnClickedDofscale()
{
m_Dof->dof.flags|=(m_DofScale.GetCheck())?XDOF_SUBRANGE:0;
m_Dof->dof.flags&=(!m_DofScale.GetCheck())?~XDOF_SUBRANGE:0xffffffff;
UpdateAngles();
}
