//------------------------------------------------------------------------
bool CVehicleSeatActionRotateTurret::GetRemainingAnglesToAimGoalInDegrees(float &pitch, float &yaw)
{
// no aim goal set (or it got cleared)?
if (m_aimGoal.IsZero())
{
return false; // have no aim goal
}
IVehiclePart* pPitchPart = m_rotations[eVTRT_Pitch].m_pPart;
IVehiclePart* pYawPart = m_rotations[eVTRT_Yaw].m_pPart;
if (!pYawPart)
{
pitch = yaw = 0.0f;
return true; // have an aim goal
}
// aim goal is a world pos. Convert it to vehicle space:
Vec3 aimGoalLocal = m_pVehicle->GetEntity()->GetWorldTM().GetInverted() * m_aimGoal;
// direction from yaw part pivot to aim goal
Vec3 yawPartToAimGoal = aimGoalLocal - pYawPart->GetLocalTM(false).GetTranslation();
// angles from yaw part to aim goal
Quat aimDir = Quat::CreateRotationVDir(yawPartToAimGoal.GetNormalizedSafe());
Ang3 desiredAngles(aimDir);
if (pPitchPart)
{
Ang3 pitchAngles(pPitchPart->GetLocalTM(false));
pitch = RAD2DEG(desiredAngles.x - pitchAngles.x);
pitch = fmod(pitch, 360.0f);
}
else
{
pitch = 0.0f;
}
Ang3 yawAngles(pYawPart->GetLocalTM(false));
yaw = RAD2DEG(desiredAngles.z - yawAngles.z);
yaw = fmod(yaw, 360.0f);
return true; // have an aim goal
}
/*
============
hhPhysics_StaticWeapon::Evaluate
============
*/
bool hhPhysics_StaticWeapon::Evaluate( int timeStepMSec, int endTimeMSec ) {
if( !selfOwner ) {
return false;
}
idMat3 localAxis;
idVec3 localOrigin( 0.0f, 0.0f, selfOwner->EyeHeight() );
idAngles pitchAngles( selfOwner->GetUntransformedViewAngles().pitch, 0.0f, 0.0f );
if( selfOwner->InVehicle() ) {
localAxis = pitchAngles.ToMat3();
} else {
localAxis = ( pitchAngles + selfOwner->GunTurningOffset() ).ToMat3();
localOrigin += selfOwner->GunAcceleratingOffset();
if ( castSelf ) {
castSelf->MuzzleRise( localOrigin, localAxis );
}
}
SetLocalAxis( localAxis );
SetLocalOrigin( localOrigin );
return idPhysics_Static::Evaluate( timeStepMSec, endTimeMSec );
}
/*
================
sdVehicleIKArms::Update
================
*/
void sdVehicleIKArms::Update( void ) {
idEntity* vehicleEnt = vehicle;
if ( !vehicleEnt ) {
return;
}
idVec3 shoulderPos;
idMat3 temp;
idAnimator* animator = vehicleEnt->GetAnimator();
animator->GetJointTransform( ikJoints[ ARM_JOINT_INDEX_SHOULDER ], gameLocal.time, shoulderPos, temp );
idVec3 shoulderToElbow = baseJointPositions[ ARM_JOINT_INDEX_ELBOW ] - baseJointPositions[ ARM_JOINT_INDEX_SHOULDER ];
idVec3 elbowToWrist = baseJointPositions[ ARM_JOINT_INDEX_WRIST ] - baseJointPositions[ ARM_JOINT_INDEX_ELBOW ];
idVec3 wristToMuzzle = baseJointPositions[ ARM_JOINT_INDEX_MUZZLE ] - baseJointPositions[ ARM_JOINT_INDEX_WRIST ];
idVec3 elbowToMuzzle = baseJointPositions[ ARM_JOINT_INDEX_MUZZLE ] - baseJointPositions[ ARM_JOINT_INDEX_ELBOW ];
idMat3 shoulderAxis;
TransposeMultiply( baseJointAxes[ ARM_JOINT_INDEX_SHOULDER ], temp, shoulderAxis );
idMat3 transposedShoulderAxis = shoulderAxis.Transpose();
idPlayer* player = GetPlayer();
if ( player && requireTophat ) {
if ( !gameLocal.usercmds[ player->entityNumber ].buttons.btn.tophat ) {
player = NULL;
}
}
bool changed = false;
changed |= !oldParentAxis.Compare( temp, 0.005f );
idAngles newAngles;
renderView_t* view = player ? player->GetRenderView() : NULL;
renderEntity_t* renderEnt = vehicleEnt->GetRenderEntity();
trace_t trace;
idVec3 modelTarget;
if( view ) {
idVec3 end = view->vieworg + ( 8192 * view->viewaxis[ 0 ] );
gameLocal.clip.TracePoint( CLIP_DEBUG_PARMS trace, view->vieworg, end, CONTENTS_SOLID | CONTENTS_OPAQUE, player );
modelTarget = trace.endpos;
modelTarget -= renderEnt->origin;
modelTarget *= renderEnt->axis.Transpose();
modelTarget -= shoulderPos;
modelTarget *= transposedShoulderAxis;
modelTarget -= shoulderToElbow;
}
if ( view ) {
idVec3 target = modelTarget;
const idVec3& dir = baseJointAxes[ ARM_JOINT_INDEX_MUZZLE ][ 0 ];
target -= elbowToMuzzle - ( ( dir * elbowToMuzzle ) * dir );
target *= baseJointAxes[ ARM_JOINT_INDEX_MUZZLE ].Transpose();
newAngles.yaw = RAD2DEG( atan2( target[ 1 ], target[ 0 ] ) );
} else {
newAngles.yaw = 0;
}
bool yawChanged = !sdVehiclePosition::ClampAngle( newAngles, jointAngles, clampYaw, 1, 0.1f );
if ( yawSound != NULL ) {
yawSound->Update( yawChanged );
}
changed |= yawChanged;
idMat3 yawMat;
idAngles::YawToMat3( newAngles.yaw, yawMat );
if ( view ) {
idVec3 target = modelTarget;
idVec3 newElbowToWrist = elbowToWrist * yawMat;
idVec3 newWristToMuzzle = wristToMuzzle * yawMat;
idMat3 muzzleAxis = baseJointAxes[ ARM_JOINT_INDEX_MUZZLE ] * yawMat;
target -= newElbowToWrist;
target -= newWristToMuzzle - ( ( muzzleAxis[ 0 ] * newWristToMuzzle ) * muzzleAxis[ 0 ] );
target *= muzzleAxis.Transpose();
newAngles.pitch = -RAD2DEG( atan2( target[ 2 ], target[ 0 ] ) );
} else {
newAngles.pitch = 0;
}
bool pitchChanged = !sdVehiclePosition::ClampAngle( newAngles, jointAngles, clampPitch, 0, 0.1f );
if ( pitchSound != NULL ) {
pitchSound->Update( pitchChanged );
}
changed |= pitchChanged;
// configurable pitching axis - to support vertically oriented arms (eg badger, bumblebee)
// as well as horizontally oriented arms (eg goliath)
int truePitchAxis = pitchAxis;
if ( truePitchAxis < 0 ) {
newAngles.pitch = -newAngles.pitch;
truePitchAxis = -truePitchAxis;
}
idAngles pitchAngles( 0.0f, 0.0f, 0.0f );
if ( truePitchAxis == 1 ) { // x-axis
pitchAngles.roll = newAngles.pitch;
} else if ( truePitchAxis == 3 ) { // z-axis
pitchAngles.yaw = newAngles.pitch;
} else { // y-axis
pitchAngles.pitch = newAngles.pitch;
}
idMat3 pitchMat = pitchAngles.ToMat3();
if( changed ) {
oldParentAxis = temp;
jointAngles = newAngles;
animator->SetJointAxis( ikJoints[ ARM_JOINT_INDEX_ELBOW ], JOINTMOD_WORLD_OVERRIDE, baseJointAxes[ ARM_JOINT_INDEX_ELBOW ] * yawMat * shoulderAxis );
animator->SetJointAxis( ikJoints[ ARM_JOINT_INDEX_WRIST ], JOINTMOD_WORLD_OVERRIDE, pitchMat * baseJointAxes[ ARM_JOINT_INDEX_WRIST ] * yawMat * shoulderAxis );
}
}
