void CIKLimb::BonesCallback2 (CBoneInstance* B)
{
SCalculateData* D=(SCalculateData*)B->Callback_Param;
CIKLimb* L=D->m_limb ;
float const *x=D->m_angles ;
{
Fmatrix bm;//=B->mTransform ;
//tmp_pos .set(bm.c) ;
// Fvector ra;B->mTransform.getXYZ(ra) ;
// bm .setXYZ(-x[4],-x[5],-x[6]) ;
Matrix tbm;
float t[3];
t[0] = x[6]; t[1] = x[5]; t[2] = x[4] ;
EulerEval(ZXY,t,tbm) ;
IM2XM(tbm,bm) ;
CKinematics *K=D->m_K;
CBoneData& BD=K->LL_GetData(L->m_bones[2]) ;
Fmatrix start;start.mul_43(K->LL_GetTransform(BD.GetParentID()),BD.bind_transform);
Fmatrix inv_start;inv_start.invert(start);
Fmatrix dif;dif.mul_43(inv_start,B->mTransform);
Fmatrix ikdif;
Fvector a;
dif.getXYZ(a);
XM2IM(dif,ikdif);
//B->mTransform.mul_43(K->LL_GetTransform(BD.GetParentID()),BD.bind_transform);
//B->mTransform.mulB_43(bm) ;
B->mTransform.mul_43(start,bm);
#ifdef DEBUG
if(ph_dbg_draw_mask.test(phDbgDrawIKGoal))
{
Fmatrix DBGG;
DBGG.mul_43(*D->m_obj,B->mTransform);
DBG_DrawMatrix(DBGG,0.3f);
DBGG.mul_43(*D->m_obj,start);
DBG_DrawMatrix(DBGG,0.3f);
}
#endif
//bm.c .set(tmp_pos) ;
}
}
void CIKLimb::BonesCallback0 (CBoneInstance* B)
{
SCalculateData* D=(SCalculateData*)B->Callback_Param;
CIKLimb* L=D->m_limb ;
float const *x=D->m_angles ;
Fmatrix bm;
//tmp_pos .set(bm.c) ;
//Fvector ra;B->mTransform.getXYZ(ra) ;
Matrix tbm;
float t[3];
t[0] = x[2]; t[1] = x[1]; t[2] = x[0] ;
EulerEval(ZXY,t,tbm) ;
IM2XM(tbm,bm) ;
Fmatrix cmp_save;cmp_save.set(B->mTransform) ;
CKinematics *K=D->m_K;
CBoneData& BD=K->LL_GetData(L->m_bones[0]);
B->mTransform.mul_43(K->LL_GetTransform(BD.GetParentID()),BD.bind_transform);
#ifdef DEBUG
if(ph_dbg_draw_mask.test(phDbgDrawIKGoal))
{
Fmatrix DBGG;
DBGG.mul_43(*D->m_obj,B->mTransform);
DBG_DrawMatrix(DBGG,0.3f);
}
#endif
B->mTransform.mulB_43(bm) ;
#ifdef DEBUG
if(ph_dbg_draw_mask.test(phDbgDrawIKGoal))
{
Fmatrix DBGG;
DBGG.mul_43(*D->m_obj,B->mTransform);
DBG_DrawMatrix(DBGG,0.3f);
}
#endif
Fmatrix cmp_savei;cmp_savei.invert(cmp_save);
Fmatrix dif;dif.mul_43(cmp_savei,B->mTransform);
}
void CCharacterPhysicsSupport::in_shedule_Update( u32 DT )
{
///VERIFY( 0 );
//CPHSkeleton::Update(DT);
if(m_collision_activating_delay)
UpdateCollisionActivatingDellay();
if( !m_EntityAlife.use_simplified_visual ( ) )
CPHDestroyable::SheduleUpdate( DT );
else if( m_pPhysicsShell&&m_pPhysicsShell->isFullActive( ) && !m_pPhysicsShell->isEnabled( ) )
m_EntityAlife.deactivate_physics_shell( );
movement( )->in_shedule_Update( DT );
#if 0
if( anim_mov_state.active )
{
DBG_OpenCashedDraw( );
DBG_DrawMatrix( mXFORM, 0.5f );
DBG_ClosedCashedDraw( 5000 );
}
#endif
}
void CIKLimb::GoalMatrix(Matrix &M,SCalculateData* cd)
{
VERIFY(cd->m_tri&&cd->m_tri_hight!=-dInfinity);
const Fmatrix &obj=*cd->m_obj;
CDB::TRI *tri=cd->m_tri;
CKinematics *K=cd->m_K;
Fvector* pVerts = Level().ObjectSpace.GetStaticVerts();
Fvector normal;
normal.mknormal (pVerts[tri->verts[0]],pVerts[tri->verts[1]],pVerts[tri->verts[2]]);
VERIFY(!fis_zero(normal.magnitude()));
Fmatrix iobj;iobj.invert(obj);iobj.transform_dir(normal);
Fmatrix xm;xm.set(K->LL_GetTransform(m_bones[2]));
//Fvector dbg;
//dbg.set(Fvector().mul(normal,normal.y*tri_hight
// -normal.dotproduct(xm.i)*m_toe_position.x
// -normal.dotproduct(xm.j)*m_toe_position.y
// -normal.dotproduct(xm.k)*m_toe_position.z-m_toe_position.x
// ));
normal.invert();
Fvector ax;ax.crossproduct(normal,xm.i);
float s=ax.magnitude();
if(!fis_zero(s))
{
ax.mul(1.f/s);
xm.mulA_43(Fmatrix().rotation(ax,asinf(-s)));
}
Fvector otri;iobj.transform_tiny(otri,pVerts[tri->verts[0]]);
float tp=normal.dotproduct(otri);
Fvector add;
add.set(Fvector().mul(normal,-m_toe_position.x+tp-xm.c.dotproduct(normal)));
xm.c.add(add);
Fmatrix H;
CBoneData& bd=K->LL_GetData(m_bones[0]);
H.set(bd.bind_transform);
H.mulA_43(K->LL_GetTransform(bd.GetParentID()));
H.c.set(K->LL_GetTransform(m_bones[0]).c);
#ifdef DEBUG
if(ph_dbg_draw_mask.test(phDbgIKAnimGoalOnly)) xm.set(K->LL_GetTransform(m_bones[2]));
if(ph_dbg_draw_mask.test(phDbgDrawIKGoal))
{
Fmatrix DBGG;
DBGG.mul_43(obj,xm);
DBG_DrawMatrix(DBGG,0.2f);
DBGG.mul_43(obj,H);
DBG_DrawMatrix(DBGG,0.2f);
}
#endif
H.invert();
Fmatrix G;
G.mul_43(H,xm);
XM2IM(G,M);
}
bool CPhysicObject::get_door_vectors ( Fvector& closed, Fvector& open ) const
{
VERIFY(Visual());
IKinematics *K = Visual()->dcast_PKinematics();
VERIFY(K);
u16 door_bone = K->LL_BoneID("door");
if( door_bone==BI_NONE )
return false;
const CBoneData &bd = K->LL_GetData( door_bone );
const SBoneShape &shape = bd.shape;
if( shape.type != SBoneShape::stBox )
return false;
if( shape.flags.test( SBoneShape::sfNoPhysics ) )
return false;
Fmatrix start_bone_pos;
K->Bone_GetAnimPos( start_bone_pos, door_bone, u8(-1), true );
Fmatrix start_pos = Fmatrix().mul_43( XFORM(), start_bone_pos );
const Fobb &box = shape.box;
Fvector center_pos;
start_pos.transform_tiny( center_pos, box.m_translate );
Fvector door_dir; start_pos.transform_dir(door_dir, box.m_rotate.i );
Fvector door_dir_local = box.m_rotate.i ;
//Fvector door_dir_bone; start_bone_pos.transform_dir(door_dir_bone, box.m_rotate.i );
const Fvector det_vector = Fvector().sub( center_pos, start_pos.c );
if( door_dir.dotproduct( det_vector ) < 0.f )
{
door_dir.invert();
door_dir_local.invert();
//door_dir_bone.invert();
}
const SJointIKData &joint = bd.IK_data;
if( joint.type != jtJoint )
return false;
const Fvector2& limits = joint.limits[1].limit;
//if( limits.y < EPS ) //limits.y - limits.x < EPS
// return false;
if( M_PI - limits.y < EPS && M_PI + limits.x < EPS )
return false;
Fmatrix to_hi = Fmatrix().rotateY( -limits.x );
to_hi.transform_dir( open, door_dir_local );
Fmatrix to_lo = Fmatrix().rotateY( -limits.y );
to_lo.transform_dir( closed, door_dir_local );
start_pos.transform_dir(open);
start_pos.transform_dir(closed);
//DBG_OpenCashedDraw( );
#ifdef DEBUG
if(dbg_draw_doors)
{
DBG_DrawMatrix( Fidentity, 10.0f );
DBG_DrawMatrix( XFORM(), .5f, 100 );
DBG_DrawMatrix( start_pos, 0.2f,100 );
const Fvector pos = start_pos.c.add( Fvector().set(0,0.2f,0) );
const Fvector pos1 = start_pos.c.add( Fvector().set(0,0.3f,0) );
DBG_DrawLine( pos, Fvector( ).add( pos, open ), D3DCOLOR_XRGB( 0, 255, 0 ) );
DBG_DrawLine( pos, Fvector( ).add( pos, closed ), D3DCOLOR_XRGB( 255, 0, 0 ) );
DBG_DrawLine( pos1, Fvector( ).add( pos1, det_vector ), D3DCOLOR_XRGB( 255, 255, 0 ) );
}
#endif
//DBG_ClosedCashedDraw( 50000000 );
return true;
}
void CCharacterPhysicsSupport::in_UpdateCL( )
{
if( m_eState==esRemoved )
{
return;
}
#ifdef DEBUG
if( dbg_draw_character_bones )
dbg_draw_geoms( m_weapon_geoms );
if( dbg_draw_character_bones )
DBG_DrawBones( m_EntityAlife );
if( dbg_draw_character_binds )
DBG_DrawBind( m_EntityAlife );
if( dbg_draw_character_physics_pones )
DBG_PhysBones( m_EntityAlife );
if( dbg_draw_character_physics && m_pPhysicsShell )
m_pPhysicsShell->dbg_draw_geometry( 0.2f, D3DCOLOR_ARGB( 100 ,255, 0, 0 ) );
#endif
update_animation_collision();
m_character_shell_control.CalculateTimeDelta( );
if( m_pPhysicsShell )
{
VERIFY( m_pPhysicsShell->isFullActive( ) );
m_pPhysicsShell->SetRagDoll( );//Теперь шела относиться к классу объектов cbClassRagDoll
if( !is_imotion(m_interactive_motion ) )//!m_flags.test(fl_use_death_motion)
m_pPhysicsShell->InterpolateGlobalTransform( &mXFORM );
else
m_interactive_motion->update( );
UpdateDeathAnims();
m_character_shell_control.UpdateFrictionAndJointResistanse( m_pPhysicsShell );
}
//else if ( !m_EntityAlife.g_Alive( ) && !m_EntityAlife.use_simplified_visual( ) )
//{
//ActivateShell( NULL );
//m_PhysicMovementControl->DestroyCharacter( );
//}
else if( ik_controller( ) )
{
update_interactive_anims();
ik_controller( )->Update();
}
#ifdef DEBUG
if(Type()==etStalker && ph_dbg_draw_mask1.test(phDbgHitAnims))
{
Fmatrix m;
m_hit_animations.GetBaseMatrix(m,m_EntityAlife);
DBG_DrawMatrix(m,1.5f);
/*
IKinematicsAnimated *K = smart_cast<IKinematicsAnimated*>(m_EntityAlife.Visual());
u16 hb = K->LL_BoneID("bip01_head");
u16 pb = K->LL_GetBoneRoot();
u16 nb = K->LL_BoneID("bip01_neck");
u16 eb = K->LL_BoneID("eye_right");
Fmatrix &mh = K->LL_GetTransform(hb);
Fmatrix &mp = K->LL_GetTransform(pb);
Fmatrix &me = K->LL_GetTransform(eb);
Fmatrix &mn = K->LL_GetTransform(nb);
float d = DET(mh);
if(Fvector().sub(mh.c,mp.c).magnitude() < 0.3f||d<0.7 )//|| Fvector().sub(me.c,mn.c) < 0.5
{
K->CalculateBones_Invalidate();
K->CalculateBones();
;
}
*/
}
#endif
}
