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-rw-r--r--src/peds/PedIK.cpp537
1 files changed, 168 insertions, 369 deletions
diff --git a/src/peds/PedIK.cpp b/src/peds/PedIK.cpp
index 9dae5ff1..8b3835b3 100644
--- a/src/peds/PedIK.cpp
+++ b/src/peds/PedIK.cpp
@@ -7,11 +7,13 @@
#include "General.h"
#include "RwHelper.h"
-LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(7.0f) };
-LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
+//--MIAMI: file almost done (only some special weapon cases left)
+
+LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(8.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
+LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(8.0f) };
LimbMovementInfo CPedIK::ms_headRestoreInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
-LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(20.0f), DEGTORAD(-100.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(10.0f) };
-LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(80.0f), DEGTORAD(0.0f), DEGTORAD(20.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(5.0f) };
+LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(5.0f), DEGTORAD(-120.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(20.0f) };
+LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(60.0f), DEGTORAD(0.0f), DEGTORAD(15.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f) };
const RwV3d XaxisIK = { 1.0f, 0.0f, 0.0f};
const RwV3d YaxisIK = { 0.0f, 1.0f, 0.0f};
@@ -21,17 +23,16 @@ CPedIK::CPedIK(CPed *ped)
{
m_ped = ped;
m_flags = 0;
- m_headOrient.phi = 0.0f;
- m_headOrient.theta = 0.0f;
- m_torsoOrient.phi = 0.0f;
- m_torsoOrient.theta = 0.0f;
- m_upperArmOrient.phi = 0.0f;
- m_upperArmOrient.theta = 0.0f;
- m_lowerArmOrient.phi = 0.0f;
- m_lowerArmOrient.theta = 0.0f;
+ m_headOrient.yaw = 0.0f;
+ m_headOrient.pitch = 0.0f;
+ m_torsoOrient.yaw = 0.0f;
+ m_torsoOrient.pitch = 0.0f;
+ m_upperArmOrient.yaw = 0.0f;
+ m_upperArmOrient.pitch = 0.0f;
+ m_lowerArmOrient.yaw = 0.0f;
+ m_lowerArmOrient.pitch = 0.0f;
}
-#ifdef PED_SKIN
inline RwMatrix*
GetBoneMatrix(CPed *ped, int32 bone)
{
@@ -45,174 +46,60 @@ GetComponentMatrix(CPed *ped, int32 node)
{
return GetBoneMatrix(ped, ped->m_pFrames[node]->nodeID);
}
-#endif
void
CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool changeRoll)
{
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- RtQuat *q = &node->hanimFrame->q;
-#ifndef FIX_BUGS
- // this is what the game does (also VC), but it does not look great
- RtQuatRotate(q, &XaxisIK, RADTODEG(limb->phi), rwCOMBINEPRECONCAT);
- RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->theta), rwCOMBINEPRECONCAT); // pitch
-#else
- // copied the code from the non-skinned case
- // this seems to work ok
-
- // We can't get the parent matrix of an hanim frame but
- // this function is always called with PED_MID, so we know the parent frame.
- // Trouble is that PED_MID is "Smid" on PS2/PC but BONE_torso on mobile/xbox...
- // so this doesn't exactly do what we'd like anyway
- RwMatrix* mat = GetComponentMatrix(m_ped, PED_MID);
-
- RwV3d vec1, vec2;
- vec1.x = mat->right.z;
- vec1.y = mat->up.z;
- vec1.z = mat->at.z;
- float c = Cos(m_ped->m_fRotationCur);
- float s = Sin(m_ped->m_fRotationCur);
- vec2.x = -(c*mat->right.x + s*mat->right.y);
- vec2.y = -(c*mat->up.x + s*mat->up.y);
- vec2.z = -(c*mat->at.x + s*mat->at.y);
-
- // Not sure what exactly to do here
- RtQuatRotate(q, &vec1, RADTODEG(limb->phi), rwCOMBINEPRECONCAT);
- RtQuatRotate(q, &vec2, RADTODEG(limb->theta), rwCOMBINEPRECONCAT);
-#endif
- m_ped->bDontAcceptIKLookAts = true;
- }else
-#endif
- {
- RwFrame *f = node->frame;
- RwMatrix *mat = GetWorldMatrix(RwFrameGetParent(f), RwMatrixCreate());
-
- RwV3d upVector = { mat->right.z, mat->up.z, mat->at.z };
- RwV3d rightVector;
- RwV3d pos = RwFrameGetMatrix(f)->pos;
-
- // rotation == 0 -> looking in y direction
- // left? vector
- float c = Cos(m_ped->m_fRotationCur);
- float s = Sin(m_ped->m_fRotationCur);
- rightVector.x = -(c*mat->right.x + s*mat->right.y);
- rightVector.y = -(c*mat->up.x + s*mat->up.y);
- rightVector.z = -(c*mat->at.x + s*mat->at.y);
-
- if(changeRoll){
- // Used when aiming only involves over the legs.(canAimWithArm)
- // Automatically changes roll(forward rotation) axis of the parts above upper legs while moving, based on position of upper legs.
- // Not noticeable in normal conditions...
-
- RwV3d forwardVector;
- CVector inversedForward = CrossProduct(CVector(0.0f, 0.0f, 1.0f), mat->up);
- inversedForward.Normalise();
- float dotProduct = DotProduct(mat->at, inversedForward);
- if(dotProduct > 1.0f) dotProduct = 1.0f;
- if(dotProduct < -1.0f) dotProduct = -1.0f;
- float alpha = Acos(dotProduct);
-
- if(mat->at.z < 0.0f)
- alpha = -alpha;
-
- forwardVector.x = s * mat->right.x - c * mat->right.y;
- forwardVector.y = s * mat->up.x - c * mat->up.y;
- forwardVector.z = s * mat->at.x - c * mat->at.y;
-
- float curYaw, curPitch;
- ExtractYawAndPitchWorld(mat, &curYaw, &curPitch);
- RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT);
- RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi - (curYaw - m_ped->m_fRotationCur)), rwCOMBINEPOSTCONCAT);
- RwMatrixRotate(RwFrameGetMatrix(f), &forwardVector, RADTODEG(alpha), rwCOMBINEPOSTCONCAT);
- }else{
- // pitch
- RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT);
- // yaw
- RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi), rwCOMBINEPOSTCONCAT);
- }
- RwFrameGetMatrix(f)->pos = pos;
- RwMatrixDestroy(mat);
- }
+ RtQuat *q = &node->hanimFrame->q;
+ RtQuatRotate(q, &XaxisIK, RADTODEG(limb->yaw), rwCOMBINEREPLACE);
+ RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->pitch), rwCOMBINEPRECONCAT);
+ m_ped->bDontAcceptIKLookAts = true;
}
void
CPedIK::GetComponentPosition(RwV3d *pos, uint32 node)
{
- RwFrame *f;
- RwMatrix *mat;
-
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- pos->x = 0.0f;
- pos->y = 0.0f;
- pos->z = 0.0f;
- mat = GetComponentMatrix(m_ped, node);
- // could just copy the position out of the matrix...
- RwV3dTransformPoints(pos, pos, 1, mat);
- }else
-#endif
- {
- f = m_ped->m_pFrames[node]->frame;
- mat = RwFrameGetMatrix(f);
- *pos = mat->pos;
-
- for (f = RwFrameGetParent(f); f; f = RwFrameGetParent(f))
- RwV3dTransformPoints(pos, pos, 1, RwFrameGetMatrix(f));
- }
-}
-
-RwMatrix*
-CPedIK::GetWorldMatrix(RwFrame *source, RwMatrix *destination)
-{
- RwFrame *i;
-
- *destination = *RwFrameGetMatrix(source);
-
- for (i = RwFrameGetParent(source); i; i = RwFrameGetParent(i))
- RwMatrixTransform(destination, RwFrameGetMatrix(i), rwCOMBINEPOSTCONCAT);
-
- return destination;
+ *pos = GetComponentMatrix(m_ped, node)->pos;
}
LimbMoveStatus
-CPedIK::MoveLimb(LimbOrientation &limb, float approxPhi, float approxTheta, LimbMovementInfo &moveInfo)
+CPedIK::MoveLimb(LimbOrientation &limb, float targetYaw, float targetPitch, LimbMovementInfo &moveInfo)
{
LimbMoveStatus result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
- // phi
+ // yaw
- if (limb.phi > approxPhi) {
- limb.phi -= moveInfo.yawD;
- } else if (limb.phi < approxPhi) {
- limb.phi += moveInfo.yawD;
- }
-
- if (Abs(limb.phi - approxPhi) < moveInfo.yawD) {
- limb.phi = approxPhi;
+ if(Abs(limb.yaw-targetYaw) < moveInfo.yawD){
+ limb.yaw = targetYaw;
result = ANGLES_SET_EXACTLY;
+ }else{
+ if (limb.yaw > targetYaw) {
+ limb.yaw -= moveInfo.yawD;
+ } else if (limb.yaw < targetYaw) {
+ limb.yaw += moveInfo.yawD;
+ }
}
- if (limb.phi > moveInfo.maxYaw || limb.phi < moveInfo.minYaw) {
- limb.phi = clamp(limb.phi, moveInfo.minYaw, moveInfo.maxYaw);
+ if (limb.yaw > moveInfo.maxYaw || limb.yaw < moveInfo.minYaw) {
+ limb.yaw = clamp(limb.yaw, moveInfo.minYaw, moveInfo.maxYaw);
result = ANGLES_SET_TO_MAX;
}
- // theta
+ // pitch
- if (limb.theta > approxTheta) {
- limb.theta -= moveInfo.pitchD;
- } else if (limb.theta < approxTheta) {
- limb.theta += moveInfo.pitchD;
- }
-
- if (Abs(limb.theta - approxTheta) < moveInfo.pitchD)
- limb.theta = approxTheta;
- else
+ if (Abs(limb.pitch - targetPitch) < moveInfo.pitchD){
+ limb.pitch = targetPitch;
+ }else{
+ if (limb.pitch > targetPitch) {
+ limb.pitch -= moveInfo.pitchD;
+ } else if (limb.pitch < targetPitch) {
+ limb.pitch += moveInfo.pitchD;
+ }
result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
+ }
- if (limb.theta > moveInfo.maxPitch || limb.theta < moveInfo.minPitch) {
- limb.theta = clamp(limb.theta, moveInfo.minPitch, moveInfo.maxPitch);
+ if (limb.pitch > moveInfo.maxPitch || limb.pitch < moveInfo.minPitch) {
+ limb.pitch = clamp(limb.pitch, moveInfo.minPitch, moveInfo.maxPitch);
result = ANGLES_SET_TO_MAX;
}
return result;
@@ -226,259 +113,189 @@ CPedIK::RestoreGunPosn(void)
return limbStatus == ANGLES_SET_EXACTLY;
}
-#ifdef PED_SKIN
-void
-CPedIK::RotateHead(void)
-{
- RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
- RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.phi), rwCOMBINEREPLACE);
- RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.theta), rwCOMBINEPOSTCONCAT);
- m_ped->bDontAcceptIKLookAts = true;
-}
-#endif
-
bool
-CPedIK::LookInDirection(float phi, float theta)
+CPedIK::LookInDirection(float targetYaw, float targetPitch)
{
bool success = true;
float yaw, pitch;
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
- m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
- ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &m_headOrient.phi, &m_headOrient.theta);
- }
-
- // parent of head is torso
- RwMatrix worldMat = *GetComponentMatrix(m_ped, PED_NECK);
- ExtractYawAndPitchWorld(&worldMat, &yaw, &pitch);
-
- LimbMoveStatus headStatus = MoveLimb(m_headOrient, CGeneral::LimitRadianAngle(phi - yaw),
- CGeneral::LimitRadianAngle(DEGTORAD(10.0f)), ms_headInfo);
- if (headStatus == ANGLES_SET_TO_MAX)
- success = false;
-
- if (headStatus != ANGLES_SET_EXACTLY){
- if (!(m_flags & LOOKAROUND_HEAD_ONLY)){
- if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(phi), theta, ms_torsoInfo))
- success = true;
- }else{
- RotateHead();
- return success;
- }
- }
-
- if (!(m_flags & LOOKAROUND_HEAD_ONLY))
- RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
- RotateHead();
- }else
-#endif
- {
- RwFrame *frame = m_ped->m_pFrames[PED_HEAD]->frame;
- RwMatrix *frameMat = RwFrameGetMatrix(frame);
-
- if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
- m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
- ExtractYawAndPitchLocal(frameMat, &m_headOrient.phi, &m_headOrient.theta);
- }
-
- RwMatrix *worldMat = RwMatrixCreate();
- worldMat = GetWorldMatrix(RwFrameGetParent(frame), worldMat);
-
- ExtractYawAndPitchWorld(worldMat, &yaw, &pitch);
- RwMatrixDestroy(worldMat);
-
- yaw += m_torsoOrient.phi;
- float neededPhiTurn = CGeneral::LimitRadianAngle(phi - yaw);
- pitch *= Cos(neededPhiTurn);
+ if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
+ m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
+ RwMatrix *m = GetComponentMatrix(m_ped, PED_NECK);
+ m_headOrient.yaw = Atan2(-m->at.y, -m->at.x);
+ m_headOrient.yaw -= m_ped->m_fRotationCur;
+ m_headOrient.yaw = CGeneral::LimitRadianAngle(m_headOrient.yaw);
+ float up = clamp(m->up.z, -1.0f, 1.0f);
+ m_headOrient.pitch = Atan2(-up, Sqrt(1.0f - SQR(-up)));
+ }
- float neededThetaTurn = CGeneral::LimitRadianAngle(theta - pitch);
- LimbMoveStatus headStatus = MoveLimb(m_headOrient, neededPhiTurn, neededThetaTurn, ms_headInfo);
- if (headStatus == ANGLES_SET_TO_MAX)
- success = false;
+ // parent of head is neck
+ RwMatrix *m = GetComponentMatrix(m_ped, PED_NECK);
+ yaw = CGeneral::LimitRadianAngle(Atan2(-m->at.y, -m->at.x));
+ float up = clamp(m->up.z, -1.0f, 1.0f);
+ pitch = Atan2(-up, Sqrt(1.0f - SQR(-up)));
+ float headYaw = CGeneral::LimitRadianAngle(targetYaw - (yaw + m_torsoOrient.yaw));
+ float headPitch = CGeneral::LimitRadianAngle(targetPitch - pitch) * Cos(Min(Abs(headYaw), HALFPI));
- if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY)) {
- float remainingTurn = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur);
- if (MoveLimb(m_torsoOrient, remainingTurn, theta, ms_torsoInfo))
- success = true;
- }
- CMatrix nextFrame = CMatrix(frameMat);
- CVector framePos = nextFrame.GetPosition();
+ LimbMoveStatus headStatus = MoveLimb(m_headOrient, headYaw, headPitch, ms_headInfo);
+ if (headStatus == ANGLES_SET_TO_MAX)
+ success = false;
- nextFrame.SetRotateZ(m_headOrient.theta);
- nextFrame.RotateX(m_headOrient.phi);
- nextFrame.GetPosition() += framePos;
- nextFrame.UpdateRW();
+ if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY))
+ if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(targetYaw-m_ped->m_fRotationCur), targetPitch, ms_torsoInfo))
+ success = true;
- if (!(m_flags & LOOKAROUND_HEAD_ONLY))
- RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
+ // This was RotateHead
+ RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
+ RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEREPLACE);
+ RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEPRECONCAT);
+ m_ped->bDontAcceptIKLookAts = true;
- }
+ if (!(m_flags & LOOKAROUND_HEAD_ONLY))
+ RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
return success;
}
bool
CPedIK::LookAtPosition(CVector const &pos)
{
- float phiToFace = CGeneral::GetRadianAngleBetweenPoints(
+ RwV3d *pedpos = &GetComponentMatrix(m_ped, PED_MID)->pos;
+ float yawToFace = CGeneral::GetRadianAngleBetweenPoints(
pos.x, pos.y,
- m_ped->GetPosition().x, m_ped->GetPosition().y);
+ pedpos->x, pedpos->y);
- float thetaToFace = CGeneral::GetRadianAngleBetweenPoints(
+ float pitchToFace = CGeneral::GetRadianAngleBetweenPoints(
+ // BUG? not using pedpos here
pos.z, (m_ped->GetPosition() - pos).Magnitude2D(),
- m_ped->GetPosition().z, 0.0f);
+ pedpos->z, 0.0f);
- return LookInDirection(phiToFace, thetaToFace);
+ return LookInDirection(yawToFace, pitchToFace);
}
bool
-CPedIK::PointGunInDirection(float phi, float theta)
+CPedIK::PointGunInDirection(float targetYaw, float targetPitch)
{
bool result = true;
bool armPointedToGun = false;
- float angle = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur);
- m_flags &= (~GUN_POINTED_SUCCESSFULLY);
+ targetYaw = CGeneral::LimitRadianAngle(targetYaw - m_ped->GetForward().Heading());
+ m_flags &= ~GUN_POINTED_SUCCESSFULLY;
m_flags |= LOOKAROUND_HEAD_ONLY;
if (m_flags & AIMS_WITH_ARM) {
- armPointedToGun = PointGunInDirectionUsingArm(angle, theta);
- angle = CGeneral::LimitRadianAngle(angle - m_upperArmOrient.phi);
+ armPointedToGun = PointGunInDirectionUsingArm(targetYaw, targetPitch);
+ targetYaw = CGeneral::LimitRadianAngle(targetYaw - (m_upperArmOrient.yaw + m_lowerArmOrient.yaw));
}
if (armPointedToGun) {
- if (m_flags & AIMS_WITH_ARM && m_torsoOrient.phi * m_upperArmOrient.phi < 0.0f)
- MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.theta, ms_torsoInfo);
+ if (m_flags & AIMS_WITH_ARM && m_torsoOrient.yaw * m_upperArmOrient.yaw < 0.0f)
+ MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.pitch, ms_torsoInfo);
} else {
// Unused code
RwMatrix *matrix;
float yaw, pitch;
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- matrix = RwMatrixCreate();
- *matrix = *GetComponentMatrix(m_ped, PED_UPPERARMR);
- ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
- RwMatrixDestroy(matrix);
- }else
-#endif
- {
- matrix = GetWorldMatrix(RwFrameGetParent(m_ped->m_pFrames[PED_UPPERARMR]->frame), RwMatrixCreate());
- ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
- RwMatrixDestroy(matrix);
- }
- //
+ matrix = RwMatrixCreate();
+ *matrix = *GetComponentMatrix(m_ped, PED_CLAVICLER);
+ ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
+ RwMatrixDestroy(matrix);
- LimbMoveStatus status = MoveLimb(m_torsoOrient, angle, theta, ms_torsoInfo);
+ if(m_flags & AIMS_WITH_ARM){
+ if(targetPitch > 0.0f)
+ targetPitch = Max(targetPitch - Abs(targetYaw), 0.0f);
+ else
+ targetPitch = Min(targetPitch + Abs(targetYaw), 0.0f);
+ }
+ LimbMoveStatus status = MoveLimb(m_torsoOrient, targetYaw, targetPitch, ms_torsoInfo);
if (status == ANGLES_SET_TO_MAX)
result = false;
else if (status == ANGLES_SET_EXACTLY)
m_flags |= GUN_POINTED_SUCCESSFULLY;
}
- if (TheCamera.Cams[TheCamera.ActiveCam].Using3rdPersonMouseCam() && m_flags & AIMS_WITH_ARM)
- RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, true);
- else
- RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
+ RwMatrix *m = GetBoneMatrix(m_ped, BONE_spine); // BUG: game uses index 2 directly, which happens to be identical to BONE_spine
+ RwV3d axis = { 0.0f, 0.0f, 0.0f };
+ float axisangle = -CGeneral::LimitRadianAngle(Atan2(-m->at.y, -m->at.x) - m_ped->m_fRotationCur);
+ axis.y = -Sin(axisangle);
+ axis.z = Cos(axisangle);
+
+ // this was RotateTorso
+ RtQuat *q = &m_ped->m_pFrames[PED_MID]->hanimFrame->q;
+ RtQuatRotate(q, &axis, RADTODEG(m_torsoOrient.pitch), rwCOMBINEPOSTCONCAT);
+ RtQuatRotate(q, &XaxisIK, RADTODEG(m_torsoOrient.yaw), rwCOMBINEPOSTCONCAT);
+ m_ped->bDontAcceptIKLookAts = true;
+
return result;
}
bool
-CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
+CPedIK::PointGunInDirectionUsingArm(float targetYaw, float targetPitch)
{
bool result = false;
-
- RwV3d upVector; // only for non-skinned
RwMatrix *matrix;
float yaw, pitch;
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- matrix = RwMatrixCreate();
- *matrix = *GetComponentMatrix(m_ped, PED_UPPERARMR);
- ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
- RwMatrixDestroy(matrix);
- }else
-#endif
- {
- RwFrame *frame = m_ped->m_pFrames[PED_UPPERARMR]->frame;
- matrix = GetWorldMatrix(RwFrameGetParent(frame), RwMatrixCreate());
- // with PED_SKIN this is actually done below (with a memory leak)
- upVector.x = matrix->right.z;
- upVector.y = matrix->up.z;
- upVector.z = matrix->at.z;
+ float uaRoll = 45.0f;
+ float handRoll = 30.0f;
- ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
- RwMatrixDestroy(matrix);
- }
+ matrix = GetComponentMatrix(m_ped, PED_CLAVICLER);
+ yaw = CGeneral::LimitRadianAngle(Atan2(matrix->right.y, matrix->right.x) - m_ped->m_fRotationCur);
+ pitch = Atan2(matrix->up.z, Sqrt(1.0f - SQR(matrix->up.z)));
- RwV3d rightVector = { 0.0f, 0.0f, 1.0f };
- RwV3d forwardVector = { 1.0f, 0.0f, 0.0f };
-
- float uaPhi, uaTheta;
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- uaPhi = phi;
- uaTheta = theta + DEGTORAD(10.0f);
- }else
-#endif
- {
- uaPhi = phi - m_torsoOrient.phi - DEGTORAD(15.0f);
- uaTheta = CGeneral::LimitRadianAngle(theta - pitch);
- }
- LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaPhi, uaTheta, ms_upperArmInfo);
+ float uaYaw, uaPitch;
+ uaYaw = CGeneral::LimitRadianAngle(targetYaw - yaw - DEGTORAD(15.0f));
+ uaPitch = CGeneral::LimitRadianAngle(targetPitch - pitch + DEGTORAD(10.0f));
+ LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaYaw, uaPitch, ms_upperArmInfo);
if (uaStatus == ANGLES_SET_EXACTLY) {
m_flags |= GUN_POINTED_SUCCESSFULLY;
result = true;
}
-#ifdef PED_SKIN
- // this code is completely missing on xbox & android, but we can keep it with the check
- // TODO? implement it for skinned geometry?
- if(!IsClumpSkinned(m_ped->GetClump()))
-#endif
if (uaStatus == ANGLES_SET_TO_MAX) {
- float laPhi = uaPhi - m_upperArmOrient.phi;
+ float laYaw = uaYaw - m_upperArmOrient.yaw;
LimbMoveStatus laStatus;
- if (laPhi > 0.0f)
- laStatus = MoveLimb(m_lowerArmOrient, laPhi, -DEGTORAD(45.0f), ms_lowerArmInfo);
- else
- laStatus = MoveLimb(m_lowerArmOrient, laPhi, 0.0f, ms_lowerArmInfo);
+ if (laYaw > 0.0f){
+ float rollReduce = laYaw/DEGTORAD(30.0f);
+ uaRoll *= 1.0f - Min(rollReduce, 1.0f);
+ handRoll *= 1.0f - Min(rollReduce, 1.0f);
+
+ laYaw *= 1.9f;
+ laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
+
+ // some unused statics here
+ float uaPitchAmount = 1.0f - (m_lowerArmOrient.yaw + m_upperArmOrient.yaw) * 0.34f;
+ float f1 = ms_upperArmInfo.maxPitch * Max(uaPitchAmount, 0.0f);
+ float f2 = 0.2f*m_lowerArmOrient.yaw + m_upperArmOrient.pitch;
+ m_upperArmOrient.pitch = Min(f1, f2);
+ }else
+ laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
if (laStatus == ANGLES_SET_EXACTLY) {
m_flags |= GUN_POINTED_SUCCESSFULLY;
result = true;
}
- RwFrame *child = GetFirstChild(m_ped->m_pFrames[PED_UPPERARMR]->frame);
- RwV3d pos = RwFrameGetMatrix(child)->pos;
- RwMatrixRotate(RwFrameGetMatrix(child), &forwardVector, RADTODEG(m_lowerArmOrient.theta), rwCOMBINEPOSTCONCAT);
- RwMatrixRotate(RwFrameGetMatrix(child), &rightVector, RADTODEG(-m_lowerArmOrient.phi), rwCOMBINEPOSTCONCAT);
- RwFrameGetMatrix(child)->pos = pos;
- }
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q;
- RtQuatRotate(q, &XaxisIK, RADTODEG(m_upperArmOrient.phi), rwCOMBINEPOSTCONCAT);
- RtQuatRotate(q, &ZaxisIK, RADTODEG(m_upperArmOrient.theta), rwCOMBINEPOSTCONCAT);
+ // game does this stupidly by going through the clump extension...
+ RtQuat *q = &m_ped->m_pFrames[PED_FOREARMR]->hanimFrame->q;
+ RtQuatRotate(q, &ZaxisIK, -RADTODEG(m_lowerArmOrient.yaw), rwCOMBINEREPLACE);
+ RtQuatRotate(q, &XaxisIK, -RADTODEG(m_lowerArmOrient.pitch), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true;
- }else
-#endif
- {
- RwFrame *frame = m_ped->m_pFrames[PED_UPPERARMR]->frame;
- // with PED_SKIN we're also getting upVector here
- RwV3d pos = RwFrameGetMatrix(frame)->pos;
- RwMatrixRotate(RwFrameGetMatrix(frame), &rightVector, RADTODEG(m_upperArmOrient.theta), rwCOMBINEPOSTCONCAT);
- RwMatrixRotate(RwFrameGetMatrix(frame), &upVector, RADTODEG(m_upperArmOrient.phi), rwCOMBINEPOSTCONCAT);
- RwFrameGetMatrix(frame)->pos = pos;
}
+
+ RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q;
+ RtQuatRotate(q, &XaxisIK, uaRoll, rwCOMBINEREPLACE);
+ RtQuatRotate(q, &YaxisIK, -RADTODEG(m_upperArmOrient.pitch), rwCOMBINEPOSTCONCAT);
+ RtQuatRotate(q, &ZaxisIK, -RADTODEG(m_upperArmOrient.yaw+HALFPI), rwCOMBINEPOSTCONCAT);
+ m_ped->bDontAcceptIKLookAts = true;
+
+ q = &m_ped->m_pFrames[PED_HANDR]->hanimFrame->q;
+ RtQuatRotate(q, &XaxisIK, handRoll, rwCOMBINEPRECONCAT);
+
return result;
}
bool
CPedIK::PointGunAtPosition(CVector const& position)
{
+ // TODO(MIAMI): special cases for some weapons
return PointGunInDirection(
CGeneral::GetRadianAngleBetweenPoints(position.x, position.y, m_ped->GetPosition().x, m_ped->GetPosition().y),
- CGeneral::GetRadianAngleBetweenPoints(position.z, Distance2D(m_ped->GetPosition(), position.x, position.y),
- m_ped->GetPosition().z,
- 0.0f));
+ CGeneral::GetRadianAngleBetweenPoints(position.z, Distance2D(m_ped->GetPosition(), position.x, position.y), m_ped->GetPosition().z, 0.0f));
}
bool
@@ -487,40 +304,24 @@ CPedIK::RestoreLookAt(void)
bool result = false;
float yaw, pitch;
-#ifdef PED_SKIN
- if(IsClumpSkinned(m_ped->GetClump())){
- if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
- m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
- } else {
- ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &yaw, &pitch);
- if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
- result = true;
- }
- RotateHead();
- }else
-#endif
- {
- RwMatrix *mat = RwFrameGetMatrix(m_ped->m_pFrames[PED_HEAD]->frame);
- if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
- m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
- } else {
- ExtractYawAndPitchLocal(mat, &yaw, &pitch);
- if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
- result = true;
- }
-
- CMatrix matrix(mat);
- CVector pos = matrix.GetPosition();
- matrix.SetRotateZ(m_headOrient.theta);
- matrix.RotateX(m_headOrient.phi);
- matrix.Translate(pos);
- matrix.UpdateRW();
+ if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
+ m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
+ } else {
+ ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &yaw, &pitch);
+ if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
+ result = true;
}
- if (!(m_flags & LOOKAROUND_HEAD_ONLY)){
+
+ // This was RotateHead
+ RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
+ RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEREPLACE);
+ RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEPRECONCAT);
+ m_ped->bDontAcceptIKLookAts = true;
+
+ if (!(m_flags & LOOKAROUND_HEAD_ONLY))
MoveLimb(m_torsoOrient, 0.0f, 0.0f, ms_torsoInfo);
- if (!(m_flags & LOOKAROUND_HEAD_ONLY))
- RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
- }
+ if (!(m_flags & LOOKAROUND_HEAD_ONLY))
+ RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
return result;
}
@@ -548,7 +349,6 @@ CPedIK::ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch)
if (mat->up.x > 0.0f) *pitch = -*pitch;
}
-#ifdef PED_SKIN
void
CPedIK::ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, float *pitch)
{
@@ -557,4 +357,3 @@ CPedIK::ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, flo
ExtractYawAndPitchLocal(mat, yaw, pitch);
RwMatrixDestroy(mat);
}
-#endif