//--------------------------------------------------------------------
// setRotation()
//--------------------------------------------------------------------
void LLJoint::setRotation( const LLQuaternion& rot )
{
if (rot.isFinite())
{
// if (mXform.getRotation() != rot)
{
mXform.setRotation(rot);
touch(MATRIX_DIRTY | ROTATION_DIRTY);
}
}
}
//-----------------------------------------------------------------------------
// LLEditingMotion::onUpdate()
//-----------------------------------------------------------------------------
BOOL LLEditingMotion::onUpdate(F32 time, U8* joint_mask)
{
LLVector3 focus_pt;
LLVector3* pointAtPt = (LLVector3*)mCharacter->getAnimationData("PointAtPoint");
BOOL result = TRUE;
if (!pointAtPt)
{
focus_pt = mLastSelectPt;
result = FALSE;
}
else
{
focus_pt = *pointAtPt;
mLastSelectPt = focus_pt;
}
focus_pt += mCharacter->getCharacterPosition();
// propagate joint positions to kinematic chain
mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
// propagate current joint rotations to kinematic chain
mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
// update target position from character
LLVector3 target = focus_pt - mParentJoint.getPosition();
F32 target_dist = target.normVec();
LLVector3 edit_plane_normal(1.f / F_SQRT2, 1.f / F_SQRT2, 0.f);
edit_plane_normal.normVec();
edit_plane_normal.rotVec(mTorsoState->getJoint()->getWorldRotation());
F32 dot = edit_plane_normal * target;
if (dot < 0.f)
{
target = target + (edit_plane_normal * (dot * 2.f));
target.mV[VZ] += clamp_rescale(dot, 0.f, -1.f, 0.f, 5.f);
target.normVec();
}
target = target * target_dist;
if (!target.isFinite())
{
LL_WARNS() << "Non finite target in editing motion with target distance of " << target_dist <<
" and focus point " << focus_pt << " and pointAtPt: ";
if (pointAtPt)
{
LL_CONT << *pointAtPt;
}
else
{
LL_CONT << "NULL";
}
LL_CONT << LL_ENDL;
target.setVec(1.f, 1.f, 1.f);
}
mTarget.setPosition( target + mParentJoint.getPosition());
// LL_INFOS() << "Point At: " << mTarget.getPosition() << LL_ENDL;
// update the ikSolver
if (!mTarget.getPosition().isExactlyZero())
{
LLQuaternion shoulderRot = mShoulderJoint.getRotation();
LLQuaternion elbowRot = mElbowJoint.getRotation();
mIKSolver.solve();
// use blending...
F32 slerp_amt = LLSmoothInterpolation::getInterpolant(TARGET_LAG_HALF_LIFE);
shoulderRot = slerp(slerp_amt, mShoulderJoint.getRotation(), shoulderRot);
elbowRot = slerp(slerp_amt, mElbowJoint.getRotation(), elbowRot);
// now put blended values back into joints
llassert(shoulderRot.isFinite());
llassert(elbowRot.isFinite());
mShoulderState->setRotation(shoulderRot);
mElbowState->setRotation(elbowRot);
mWristState->setRotation(LLQuaternion::DEFAULT);
}
mCharacter->setAnimationData("Hand Pose", &sHandPose);
mCharacter->setAnimationData("Hand Pose Priority", &sHandPosePriority);
return result;
}
