QuatT GetWorldOffset(const QuatT& origin, const QuatT& destination)
{
CRY_ASSERT(origin.IsValid());
CRY_ASSERT(destination.IsValid());
QuatT offset(destination.t - origin.t, origin.q.GetInverted() * destination.q);
offset.q.Normalize();
CRY_ASSERT(offset.IsValid());
return offset;
}
QuatT ApplyWorldOffset(const QuatT& origin, const QuatT& offset)
{
CRY_ASSERT(origin.IsValid());
CRY_ASSERT(offset.IsValid());
QuatT destination(origin.q * offset.q, origin.t + offset.t);
destination.q.Normalize();
CRY_ASSERT(destination.IsValid());
return destination;
}
bool CTransformationPinning::Execute(const SAnimationPoseModifierParams& params)
{
if (m_factor == 0.0f)
return false;
CRY_ASSERT(m_source && (m_jointID > 0.0f));
if (!m_jointsInitialised)
{
Init(params);
}
ISkeletonPose* pSkeletonPose = params.pCharacterInstance->GetISkeletonPose();
int sourceJoints = m_source->GetJointCount();
CRY_ASSERT(sourceJoints == pSkeletonPose->GetJointCount());
for (int i=0; i<sourceJoints; i++)
{
const QuatT &sourceJoint = m_source->GetAbsJointByID(i);
const QuatT &relSourceJoint = m_source->GetRelJointByID(i);
CRY_ASSERT(params.pPoseData->GetJointAbsolute(i).IsValid());
CRY_ASSERT(sourceJoint.IsValid());
switch (m_jointTypes[i])
{
case TransformationPinJoint::Copy:
if (m_factor < 1.0f)
{
QuatT diff = params.pPoseData->GetJointAbsolute(i).GetInverted() * sourceJoint;
params.pPoseData->SetJointAbsolute(i,
params.pPoseData->GetJointAbsolute(i) * diff.GetScaled(m_factor));
diff = params.pPoseData->GetJointRelative(i).GetInverted() * relSourceJoint;
params.pPoseData->SetJointRelative(i, params.pPoseData->GetJointRelative(i) * diff.GetScaled(m_factor));
}
else
{
params.pPoseData->SetJointAbsolute(i, sourceJoint);
params.pPoseData->SetJointRelative(i, relSourceJoint);
}
break;
case TransformationPinJoint::Feather:
{
int16 parent = m_source->GetParentIDByID(i);
QuatT invParent = params.pPoseData->GetJointAbsolute(parent).GetInverted();
params.pPoseData->SetJointRelative(i, invParent * params.pPoseData->GetJointAbsolute(i));
QuatT thisJnt = params.pPoseData->GetJointAbsolute(parent) * params.pPoseData->GetJointRelative(i);
CRY_ASSERT(params.pPoseData->GetJointRelative(i).IsValid());
CRY_ASSERT(thisJnt.IsValid());
}
break;
case TransformationPinJoint::Inherit:
break;
}
}
return true;
}
QuatT CombineHVComponents2D(const QuatT& cmpH, const QuatT& cmpV)
{
ANIMCHAR_PROFILE_DETAILED;
// NOTE: This function assumes there is no pitch/bank and totally ignores XY rotations.
CRY_ASSERT(cmpH.IsValid());
CRY_ASSERT(cmpV.IsValid());
QuatT cmb;
cmb.t.x = cmpH.t.x;
cmb.t.y = cmpH.t.y;
cmb.t.z = cmpV.t.z;
cmb.q.SetRotationZ(cmpH.q.GetRotZ());
CRY_ASSERT(cmb.IsValid());
return cmb;
}
QuatT /*CAnimatedCharacter::*/ExtractVComponent(const QuatT& m) /*const*/
{
ANIMCHAR_PROFILE_DETAILED;
// NOTE: This function assumes there is no pitch/bank and totally ignores XY rotations.
CRY_ASSERT(m.IsValid());
QuatT ext;//(IDENTITY);
ext.t.z = m.t.z;
ext.t.x = 0.0f;
ext.t.y = 0.0f;
/*
Ang3 a(m.q);
a.z = 0.0f;
ext.q.SetRotationXYZ(a);
*/
ext.q.SetIdentity();
CRY_ASSERT(ext.IsValid());
return ext;
}
QuatT CombineHVComponents3D(const QuatT& cmpH, const QuatT& cmpV)
{
ANIMCHAR_PROFILE_DETAILED;
//return CombineHVComponents2D(cmpH, cmpV);
CRY_ASSERT(cmpH.IsValid());
CRY_ASSERT(cmpV.IsValid());
QuatT cmb;
cmb.t.x = cmpH.t.x;
cmb.t.y = cmpH.t.y;
cmb.t.z = cmpV.t.z;
// TODO: This should be optimized!
Ang3 ah(cmpH.q);
Ang3 av(cmpV.q);
Ang3 a(av.x, av.y, ah.z);
cmb.q.SetRotationXYZ(a);
CRY_ASSERT(cmb.IsValid());
return cmb;
}
void CAnimatedCharacter::SetDesiredLocalLocation( ISkeletonAnim* pSkeletonAnim, const QuatT& desiredLocalLocation, float fDeltaTime)
{
CRY_ASSERT(desiredLocalLocation.IsValid());
{
uint32 NumAnimsInQueue = pSkeletonAnim->GetNumAnimsInFIFO(0);
uint32 nMaxActiveInQueue=MAX_EXEC_QUEUE;
if (nMaxActiveInQueue>NumAnimsInQueue)
nMaxActiveInQueue=NumAnimsInQueue;
if (NumAnimsInQueue>nMaxActiveInQueue)
NumAnimsInQueue=nMaxActiveInQueue;
uint32 active=0;
for (uint32 a=0; a<NumAnimsInQueue; a++)
{
const CAnimation& anim = pSkeletonAnim->GetAnimFromFIFO(0,a);
active += anim.IsActivated() ? 1 : 0;
}
if (active>nMaxActiveInQueue)
active=nMaxActiveInQueue;
nMaxActiveInQueue=active;
const SParametricSampler *pLMG = NULL;
for (int32 a=nMaxActiveInQueue-1; (a >= 0) && !pLMG; --a)
{
const CAnimation& anim = pSkeletonAnim->GetAnimFromFIFO(0,a);
pLMG = anim.GetParametricSampler();
}
}
const Vec3 dir = desiredLocalLocation.GetColumn1();
float turnAngle = atan2f(-dir.x, dir.y);
float turnSpeed = turnAngle / fDeltaTime;
const Vec2 deltaVector(desiredLocalLocation.t.x, desiredLocalLocation.t.y);
const float travelDist = deltaVector.GetLength();
const Vec2 deltaDir = (travelDist > 0.0f) ? (deltaVector / travelDist) : Vec2(0,0);
float travelAngle = (deltaDir.x == 0.0f && deltaDir.y == 0.0f ? 0.0f : atan2f(-deltaDir.x, deltaDir.y));
float travelSpeed;
if (gEnv->bMultiplayer)
{
travelSpeed = travelDist / fDeltaTime;
}
else
{
const float cosGroundSlope = fabsf(cosf(m_fGroundSlopeMoveDirSmooth));
travelSpeed = (cosGroundSlope > FLT_EPSILON) ? (travelDist / (fDeltaTime * cosGroundSlope)) : (travelDist / fDeltaTime);
}
// TravelAngle smoothing
{
const Vec2 newStrafe = Vec2(-sin_tpl(travelAngle), cos_tpl(travelAngle));
if (CAnimationGraphCVars::Get().m_enableTurnAngleSmoothing)
{
SmoothCD(m_fDesiredStrafeSmoothQTX, m_fDesiredStrafeSmoothRateQTX, fDeltaTime, newStrafe, 0.10f);
}
else
{
m_fDesiredStrafeSmoothQTX=newStrafe;
m_fDesiredStrafeSmoothRateQTX.zero();
}
travelAngle = Ang3::CreateRadZ(Vec2(0,1),m_fDesiredStrafeSmoothQTX);
}
const bool modulateTurnSpeedByTravelAngle = true;
if (modulateTurnSpeedByTravelAngle)
{
static float minimum = DEG2RAD(10.0f); // do not change turnSpeed when travelAngle is below this
static float maximum = DEG2RAD(40.0f); // force turnspeed to zero when travelAngle is above this
const float turnSpeedScale = 1.0f - clamp_tpl( fabsf(travelAngle) - minimum, 0.0f, maximum - minimum ) / ( maximum - minimum );
turnSpeed *= turnSpeedScale;
}
// TurnSpeed smoothing
{
if (CAnimationGraphCVars::Get().m_enableTurnSpeedSmoothing)
{
SmoothCD(m_fDesiredTurnSpeedSmoothQTX, m_fDesiredTurnSpeedSmoothRateQTX, fDeltaTime, turnSpeed, 0.40f);
}
else
{
m_fDesiredTurnSpeedSmoothQTX = turnSpeed;
m_fDesiredTurnSpeedSmoothRateQTX = 0.0f;
}
}
// TravelSpeed smoothing
{
if (CAnimationGraphCVars::Get().m_enableTravelSpeedSmoothing)
{
SmoothCD(m_fDesiredMoveSpeedSmoothQTX, m_fDesiredMoveSpeedSmoothRateQTX, fDeltaTime, travelSpeed, 0.04f);
}
else
{
m_fDesiredMoveSpeedSmoothQTX = travelSpeed;
m_fDesiredMoveSpeedSmoothRateQTX = 0.0f;
}
}
SetMotionParam(pSkeletonAnim, eMotionParamID_TravelSpeed, m_fDesiredMoveSpeedSmoothQTX);
SetMotionParam(pSkeletonAnim, eMotionParamID_TurnSpeed, m_fDesiredTurnSpeedSmoothQTX * CAnimationGraphCVars::Get().m_turnSpeedParamScale);
SetMotionParam(pSkeletonAnim, eMotionParamID_TravelAngle, travelAngle);
// eMotionParamID_TravelSlope
SetMotionParam(pSkeletonAnim, eMotionParamID_TurnAngle, turnAngle);
// eMotionParamID_TravelDist
SetMotionParam(pSkeletonAnim, eMotionParamID_StopLeg, 0);
}
QuatT CAnimatedCharacter::MergeMCM(const QuatT& ent, const QuatT& anim, bool flat) const
{
ANIMCHAR_PROFILE_DETAILED;
CRY_ASSERT(ent.IsValid());
CRY_ASSERT(anim.IsValid());
EMovementControlMethod mcmh = GetMCMH();
EMovementControlMethod mcmv = GetMCMV();
CRY_ASSERT(mcmh >= 0 && mcmh < eMCM_COUNT);
CRY_ASSERT(mcmv >= 0 && mcmv < eMCM_COUNT);
if (mcmh == mcmv)
{
switch (mcmh /*or mcmv*/)
{
case eMCM_Entity:
case eMCM_ClampedEntity:
case eMCM_SmoothedEntity:
return ent;
case eMCM_DecoupledCatchUp:
case eMCM_Animation:
case eMCM_AnimationHCollision:
return anim;
default:
GameWarning("CAnimatedCharacter::MergeMCM() - Horizontal & Vertical MCM %s not implemented!", g_szMCMString[mcmh]);
return ent;
}
}
QuatT mergedH, mergedV;
switch (mcmh)
{
case eMCM_Entity:
case eMCM_ClampedEntity:
case eMCM_SmoothedEntity:
mergedH = ent; break;
case eMCM_DecoupledCatchUp:
case eMCM_Animation:
case eMCM_AnimationHCollision:
mergedH = anim; break;
default:
mergedH = ent;
GameWarning("CAnimatedCharacter::MergeMCM() - Horizontal MCM %s not implemented!", g_szMCMString[mcmh]);
break;
}
switch (mcmv)
{
case eMCM_Entity:
case eMCM_ClampedEntity:
case eMCM_SmoothedEntity:
mergedV = ent; break;
case eMCM_DecoupledCatchUp:
case eMCM_Animation:
mergedV = anim; break;
default:
mergedV = ent;
GameWarning("CAnimatedCharacter::MergeMCM() - Vertical MCM %s not implemented!", g_szMCMString[mcmv]);
break;
}
QuatT merged;
if (flat)
merged = CombineHVComponents2D(mergedH, mergedV);
else
merged = CombineHVComponents3D(mergedH, mergedV);
CRY_ASSERT(merged.IsValid());
return merged;
}