void v4math_object::test<21>() { F32 x = 1.f, y = 2.f, z = -1.1f; LLVector4 vec4(x,y,z); LLVector3 vec3 = vec4to3(vec4); ensure("vec4to3 failed", ((x == vec3.mV[VX])&& (y == vec3.mV[VY]) && (z == vec3.mV[VZ]))); LLVector4 vec4a = vec3to4(vec3); ensure_equals("vec3to4 failed",vec4a,vec4); }
void v4color_object::test<17>() { F32 r = 0x20, g = 0xFFFF, b = 0xFF; LLColor4 llcolor4a(r,g,b),llcolor4b; LLColor3 llcolor3 = vec4to3(llcolor4a); ensure("vec4to3:Fail to convert vec4 to vec3 ", (is_approx_equal(llcolor3.mV[VX],llcolor4a.mV[VX]) && is_approx_equal(llcolor3.mV[VY],llcolor4a.mV[VY]) && is_approx_equal(llcolor3.mV[VZ],llcolor4a.mV[VZ]))); llcolor4b = vec3to4(llcolor3); ensure_equals("vec3to4:Fail to convert vec3 to vec4 ", llcolor4b, llcolor4a); }
//----------------------------------------------------------------------------- // LLKeyframeStandMotion::onUpdate() //----------------------------------------------------------------------------- BOOL LLKeyframeStandMotion::onUpdate(F32 time, U8* joint_mask) { //------------------------------------------------------------------------- // let the base class update the cycle //------------------------------------------------------------------------- BOOL status = LLKeyframeMotion::onUpdate(time, joint_mask); if (!status) { return FALSE; } LLVector3 root_world_pos = mPelvisState->getJoint()->getParent()->getWorldPosition(); // have we received a valid world position for this avatar? if (root_world_pos.isExactlyZero()) { return TRUE; } //------------------------------------------------------------------------- // Stop tracking (start locking) ankles once ease in is done. // Setting this here ensures we track until we get valid foot position. //------------------------------------------------------------------------- if (dot(mPelvisState->getJoint()->getWorldRotation(), mLastGoodPelvisRotation) < ROTATION_THRESHOLD) { mLastGoodPelvisRotation = mPelvisState->getJoint()->getWorldRotation(); mLastGoodPelvisRotation.normQuat(); mTrackAnkles = TRUE; } else if ((mCharacter->getCharacterPosition() - mLastGoodPosition).magVecSquared() > POSITION_THRESHOLD) { mLastGoodPosition = mCharacter->getCharacterPosition(); mTrackAnkles = TRUE; } else if (mPose.getWeight() < 1.f) { mTrackAnkles = TRUE; } //------------------------------------------------------------------------- // propagate joint positions to internal versions //------------------------------------------------------------------------- mPelvisJoint.setPosition( root_world_pos + mPelvisState->getPosition() ); mHipLeftJoint.setPosition( mHipLeftState->getJoint()->getPosition() ); mKneeLeftJoint.setPosition( mKneeLeftState->getJoint()->getPosition() ); mAnkleLeftJoint.setPosition( mAnkleLeftState->getJoint()->getPosition() ); mHipLeftJoint.setScale( mHipLeftState->getJoint()->getScale() ); mKneeLeftJoint.setScale( mKneeLeftState->getJoint()->getScale() ); mAnkleLeftJoint.setScale( mAnkleLeftState->getJoint()->getScale() ); mHipRightJoint.setPosition( mHipRightState->getJoint()->getPosition() ); mKneeRightJoint.setPosition( mKneeRightState->getJoint()->getPosition() ); mAnkleRightJoint.setPosition( mAnkleRightState->getJoint()->getPosition() ); mHipRightJoint.setScale( mHipRightState->getJoint()->getScale() ); mKneeRightJoint.setScale( mKneeRightState->getJoint()->getScale() ); mAnkleRightJoint.setScale( mAnkleRightState->getJoint()->getScale() ); //------------------------------------------------------------------------- // propagate joint rotations to internal versions //------------------------------------------------------------------------- mPelvisJoint.setRotation( mPelvisState->getJoint()->getWorldRotation() ); #if GO_TO_KEY_POSE mHipLeftJoint.setRotation( mHipLeftState->getRotation() ); mKneeLeftJoint.setRotation( mKneeLeftState->getRotation() ); mAnkleLeftJoint.setRotation( mAnkleLeftState->getRotation() ); mHipRightJoint.setRotation( mHipRightState->getRotation() ); mKneeRightJoint.setRotation( mKneeRightState->getRotation() ); mAnkleRightJoint.setRotation( mAnkleRightState->getRotation() ); #else mHipLeftJoint.setRotation( mHipLeftState->getJoint()->getRotation() ); mKneeLeftJoint.setRotation( mKneeLeftState->getJoint()->getRotation() ); mAnkleLeftJoint.setRotation( mAnkleLeftState->getJoint()->getRotation() ); mHipRightJoint.setRotation( mHipRightState->getJoint()->getRotation() ); mKneeRightJoint.setRotation( mKneeRightState->getJoint()->getRotation() ); mAnkleRightJoint.setRotation( mAnkleRightState->getJoint()->getRotation() ); #endif // need to wait for underlying keyframe motion to affect the skeleton if (mFrameNum == 2) { mIKLeft.setupJoints( &mHipLeftJoint, &mKneeLeftJoint, &mAnkleLeftJoint, &mTargetLeft ); mIKRight.setupJoints( &mHipRightJoint, &mKneeRightJoint, &mAnkleRightJoint, &mTargetRight ); } else if (mFrameNum < 2) { mFrameNum++; return TRUE; } mFrameNum++; //------------------------------------------------------------------------- // compute target position by projecting ankles to the ground //------------------------------------------------------------------------- if ( mTrackAnkles ) { mCharacter->getGround( mAnkleLeftJoint.getWorldPosition(), mPositionLeft, mNormalLeft); mCharacter->getGround( mAnkleRightJoint.getWorldPosition(), mPositionRight, mNormalRight); mTargetLeft.setPosition( mPositionLeft ); mTargetRight.setPosition( mPositionRight ); } //------------------------------------------------------------------------- // update solvers //------------------------------------------------------------------------- mIKLeft.solve(); mIKRight.solve(); //------------------------------------------------------------------------- // make ankle rotation conform to the ground //------------------------------------------------------------------------- if ( mTrackAnkles ) { LLVector4 dirLeft4 = mAnkleLeftJoint.getWorldMatrix().getFwdRow4(); LLVector4 dirRight4 = mAnkleRightJoint.getWorldMatrix().getFwdRow4(); LLVector3 dirLeft = vec4to3( dirLeft4 ); LLVector3 dirRight = vec4to3( dirRight4 ); LLVector3 up; LLVector3 dir; LLVector3 left; up = mNormalLeft; up.normVec(); if (mFlipFeet) { up *= -1.0f; } dir = dirLeft; dir.normVec(); left = up % dir; left.normVec(); dir = left % up; mRotationLeft = LLQuaternion( dir, left, up ); up = mNormalRight; up.normVec(); if (mFlipFeet) { up *= -1.0f; } dir = dirRight; dir.normVec(); left = up % dir; left.normVec(); dir = left % up; mRotationRight = LLQuaternion( dir, left, up ); } mAnkleLeftJoint.setWorldRotation( mRotationLeft ); mAnkleRightJoint.setWorldRotation( mRotationRight ); //------------------------------------------------------------------------- // propagate joint rotations to joint states //------------------------------------------------------------------------- mHipLeftState->setRotation( mHipLeftJoint.getRotation() ); mKneeLeftState->setRotation( mKneeLeftJoint.getRotation() ); mAnkleLeftState->setRotation( mAnkleLeftJoint.getRotation() ); mHipRightState->setRotation( mHipRightJoint.getRotation() ); mKneeRightState->setRotation( mKneeRightJoint.getRotation() ); mAnkleRightState->setRotation( mAnkleRightJoint.getRotation() ); //llinfos << "Stand drift amount " << (mCharacter->getCharacterPosition() - mLastGoodPosition).magVec() << llendl; // llinfos << "DEBUG: " << speed << " : " << mTrackAnkles << llendl; return TRUE; }