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changed CPedIK names

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This commit is contained in:
aap 2020-05-16 10:33:19 +02:00
parent ec1b91e527
commit 0c23166318
3 changed files with 101 additions and 101 deletions
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30
src/peds/Ped.cpp
View File

@ -2514,37 +2514,37 @@ CPed::CalculateNewVelocity(void)
if ((!idleAssoc || idleAssoc->blendAmount < 0.5f) && !fightAssoc) { if ((!idleAssoc || idleAssoc->blendAmount < 0.5f) && !fightAssoc) {
#endif #endif
LimbOrientation newUpperLegs; LimbOrientation newUpperLegs;
newUpperLegs.phi = localWalkAngle; newUpperLegs.yaw = localWalkAngle;
if (newUpperLegs.phi < -DEGTORAD(100.0f)) { if (newUpperLegs.yaw < -DEGTORAD(100.0f)) {
newUpperLegs.phi += PI; newUpperLegs.yaw += PI;
} else if (newUpperLegs.phi > DEGTORAD(100.0f)) { } else if (newUpperLegs.yaw > DEGTORAD(100.0f)) {
newUpperLegs.phi -= PI; newUpperLegs.yaw -= PI;
} }
if (newUpperLegs.phi > -DEGTORAD(50.0f) && newUpperLegs.phi < DEGTORAD(50.0f)) { if (newUpperLegs.yaw > -DEGTORAD(50.0f) && newUpperLegs.yaw < DEGTORAD(50.0f)) {
#ifdef PED_SKIN #ifdef PED_SKIN
if(IsClumpSkinned(GetClump())){ if(IsClumpSkinned(GetClump())){
/* /*
// this looks shit // this looks shit
newUpperLegs.theta = 0.0f; newUpperLegs.pitch = 0.0f;
RwV3d axis = { -1.0f, 0.0f, 0.0f }; RwV3d axis = { -1.0f, 0.0f, 0.0f };
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.phi), rwCOMBINEPRECONCAT); RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPRECONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.phi), rwCOMBINEPRECONCAT); RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &axis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPRECONCAT);
*/ */
newUpperLegs.theta = 0.1f; newUpperLegs.pitch = 0.1f;
RwV3d Xaxis = { 1.0f, 0.0f, 0.0f }; RwV3d Xaxis = { 1.0f, 0.0f, 0.0f };
RwV3d Zaxis = { 0.0f, 0.0f, 1.0f }; RwV3d Zaxis = { 0.0f, 0.0f, 1.0f };
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.theta), rwCOMBINEPOSTCONCAT); RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.pitch), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.phi), rwCOMBINEPOSTCONCAT); RtQuatRotate(&m_pFrames[PED_UPPERLEGL]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.theta), rwCOMBINEPOSTCONCAT); RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Zaxis, RADTODEG(newUpperLegs.pitch), rwCOMBINEPOSTCONCAT);
RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.phi), rwCOMBINEPOSTCONCAT); RtQuatRotate(&m_pFrames[PED_UPPERLEGR]->hanimFrame->q, &Xaxis, RADTODEG(newUpperLegs.yaw), rwCOMBINEPOSTCONCAT);
bDontAcceptIKLookAts = true; bDontAcceptIKLookAts = true;
}else }else
#endif #endif
{ {
newUpperLegs.theta = 0.0f; newUpperLegs.pitch = 0.0f;
m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGL], &newUpperLegs, false); m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGL], &newUpperLegs, false);
m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGR], &newUpperLegs, false); m_pedIK.RotateTorso(m_pFrames[PED_UPPERLEGR], &newUpperLegs, false);
} }

160
src/peds/PedIK.cpp
View File

@ -21,14 +21,14 @@ CPedIK::CPedIK(CPed *ped)
{ {
m_ped = ped; m_ped = ped;
m_flags = 0; m_flags = 0;
m_headOrient.phi = 0.0f; m_headOrient.yaw = 0.0f;
m_headOrient.theta = 0.0f; m_headOrient.pitch = 0.0f;
m_torsoOrient.phi = 0.0f; m_torsoOrient.yaw = 0.0f;
m_torsoOrient.theta = 0.0f; m_torsoOrient.pitch = 0.0f;
m_upperArmOrient.phi = 0.0f; m_upperArmOrient.yaw = 0.0f;
m_upperArmOrient.theta = 0.0f; m_upperArmOrient.pitch = 0.0f;
m_lowerArmOrient.phi = 0.0f; m_lowerArmOrient.yaw = 0.0f;
m_lowerArmOrient.theta = 0.0f; m_lowerArmOrient.pitch = 0.0f;
} }
#ifdef PED_SKIN #ifdef PED_SKIN
@ -55,8 +55,8 @@ CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool change
RtQuat *q = &node->hanimFrame->q; RtQuat *q = &node->hanimFrame->q;
#ifndef FIX_BUGS #ifndef FIX_BUGS
// this is what the game does (also VC), but it does not look great // this is what the game does (also VC), but it does not look great
RtQuatRotate(q, &XaxisIK, RADTODEG(limb->phi), rwCOMBINEPRECONCAT); RtQuatRotate(q, &XaxisIK, RADTODEG(limb->yaw), rwCOMBINEPRECONCAT);
RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->theta), rwCOMBINEPRECONCAT); // pitch RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->pitch), rwCOMBINEPRECONCAT); // pitch
#else #else
// copied the code from the non-skinned case // copied the code from the non-skinned case
// this seems to work ok // this seems to work ok
@ -78,8 +78,8 @@ CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool change
vec2.z = -(c*mat->at.x + s*mat->at.y); vec2.z = -(c*mat->at.x + s*mat->at.y);
// Not sure what exactly to do here // Not sure what exactly to do here
RtQuatRotate(q, &vec1, RADTODEG(limb->phi), rwCOMBINEPRECONCAT); RtQuatRotate(q, &vec1, RADTODEG(limb->yaw), rwCOMBINEPRECONCAT);
RtQuatRotate(q, &vec2, RADTODEG(limb->theta), rwCOMBINEPRECONCAT); RtQuatRotate(q, &vec2, RADTODEG(limb->pitch), rwCOMBINEPRECONCAT);
#endif #endif
m_ped->bDontAcceptIKLookAts = true; m_ped->bDontAcceptIKLookAts = true;
}else }else
@ -122,14 +122,14 @@ CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool change
float curYaw, curPitch; float curYaw, curPitch;
ExtractYawAndPitchWorld(mat, &curYaw, &curPitch); ExtractYawAndPitchWorld(mat, &curYaw, &curPitch);
RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->pitch), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi - (curYaw - m_ped->m_fRotationCur)), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->yaw - (curYaw - m_ped->m_fRotationCur)), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(f), &forwardVector, RADTODEG(alpha), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(f), &forwardVector, RADTODEG(alpha), rwCOMBINEPOSTCONCAT);
}else{ }else{
// pitch // pitch
RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->theta), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(f), &rightVector, RADTODEG(limb->pitch), rwCOMBINEPOSTCONCAT);
// yaw // yaw
RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->phi), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(f), &upVector, RADTODEG(limb->yaw), rwCOMBINEPOSTCONCAT);
} }
RwFrameGetMatrix(f)->pos = pos; RwFrameGetMatrix(f)->pos = pos;
RwMatrixDestroy(mat); RwMatrixDestroy(mat);
@ -176,43 +176,43 @@ CPedIK::GetWorldMatrix(RwFrame *source, RwMatrix *destination)
} }
LimbMoveStatus 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; LimbMoveStatus result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
// phi // yaw
if (limb.phi > approxPhi) { if (limb.yaw > targetYaw) {
limb.phi -= moveInfo.yawD; limb.yaw -= moveInfo.yawD;
} else if (limb.phi < approxPhi) { } else if (limb.yaw < targetYaw) {
limb.phi += moveInfo.yawD; limb.yaw += moveInfo.yawD;
} }
if (Abs(limb.phi - approxPhi) < moveInfo.yawD) { if (Abs(limb.yaw - targetYaw) < moveInfo.yawD) {
limb.phi = approxPhi; limb.yaw = targetYaw;
result = ANGLES_SET_EXACTLY; result = ANGLES_SET_EXACTLY;
} }
if (limb.phi > moveInfo.maxYaw || limb.phi < moveInfo.minYaw) { if (limb.yaw > moveInfo.maxYaw || limb.yaw < moveInfo.minYaw) {
limb.phi = clamp(limb.phi, moveInfo.minYaw, moveInfo.maxYaw); limb.yaw = clamp(limb.yaw, moveInfo.minYaw, moveInfo.maxYaw);
result = ANGLES_SET_TO_MAX; result = ANGLES_SET_TO_MAX;
} }
// theta // pitch
if (limb.theta > approxTheta) { if (limb.pitch > targetPitch) {
limb.theta -= moveInfo.pitchD; limb.pitch -= moveInfo.pitchD;
} else if (limb.theta < approxTheta) { } else if (limb.pitch < targetPitch) {
limb.theta += moveInfo.pitchD; limb.pitch += moveInfo.pitchD;
} }
if (Abs(limb.theta - approxTheta) < moveInfo.pitchD) if (Abs(limb.pitch - targetPitch) < moveInfo.pitchD)
limb.theta = approxTheta; limb.pitch = targetPitch;
else else
result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY; result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
if (limb.theta > moveInfo.maxPitch || limb.theta < moveInfo.minPitch) { if (limb.pitch > moveInfo.maxPitch || limb.pitch < moveInfo.minPitch) {
limb.theta = clamp(limb.theta, moveInfo.minPitch, moveInfo.maxPitch); limb.pitch = clamp(limb.pitch, moveInfo.minPitch, moveInfo.maxPitch);
result = ANGLES_SET_TO_MAX; result = ANGLES_SET_TO_MAX;
} }
return result; return result;
@ -231,14 +231,14 @@ void
CPedIK::RotateHead(void) CPedIK::RotateHead(void)
{ {
RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q; RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.phi), rwCOMBINEREPLACE); RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEREPLACE);
RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.theta), rwCOMBINEPOSTCONCAT); RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true; m_ped->bDontAcceptIKLookAts = true;
} }
#endif #endif
bool bool
CPedIK::LookInDirection(float phi, float theta) CPedIK::LookInDirection(float targetYaw, float targetPitch)
{ {
bool success = true; bool success = true;
float yaw, pitch; float yaw, pitch;
@ -246,21 +246,21 @@ CPedIK::LookInDirection(float phi, float theta)
if(IsClumpSkinned(m_ped->GetClump())){ if(IsClumpSkinned(m_ped->GetClump())){
if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) { if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
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); ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &m_headOrient.yaw, &m_headOrient.pitch);
} }
// parent of head is torso // parent of head is torso
RwMatrix worldMat = *GetBoneMatrix(m_ped, BONE_torso); RwMatrix worldMat = *GetBoneMatrix(m_ped, BONE_torso);
ExtractYawAndPitchWorld(&worldMat, &yaw, &pitch); ExtractYawAndPitchWorld(&worldMat, &yaw, &pitch);
LimbMoveStatus headStatus = MoveLimb(m_headOrient, CGeneral::LimitRadianAngle(phi - yaw), LimbMoveStatus headStatus = MoveLimb(m_headOrient, CGeneral::LimitRadianAngle(targetYaw - yaw),
CGeneral::LimitRadianAngle(DEGTORAD(10.0f)), ms_headInfo); CGeneral::LimitRadianAngle(DEGTORAD(10.0f)), ms_headInfo);
if (headStatus == ANGLES_SET_TO_MAX) if (headStatus == ANGLES_SET_TO_MAX)
success = false; success = false;
if (headStatus != ANGLES_SET_EXACTLY){ if (headStatus != ANGLES_SET_EXACTLY){
if (!(m_flags & LOOKAROUND_HEAD_ONLY)){ if (!(m_flags & LOOKAROUND_HEAD_ONLY)){
if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(phi), theta, ms_torsoInfo)) if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(targetYaw), targetPitch, ms_torsoInfo))
success = true; success = true;
}else{ }else{
RotateHead(); RotateHead();
@ -279,7 +279,7 @@ CPedIK::LookInDirection(float phi, float theta)
if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) { if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
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); ExtractYawAndPitchLocal(frameMat, &m_headOrient.yaw, &m_headOrient.pitch);
} }
RwMatrix *worldMat = RwMatrixCreate(); RwMatrix *worldMat = RwMatrixCreate();
@ -288,25 +288,25 @@ CPedIK::LookInDirection(float phi, float theta)
ExtractYawAndPitchWorld(worldMat, &yaw, &pitch); ExtractYawAndPitchWorld(worldMat, &yaw, &pitch);
RwMatrixDestroy(worldMat); RwMatrixDestroy(worldMat);
yaw += m_torsoOrient.phi; yaw += m_torsoOrient.yaw;
float neededPhiTurn = CGeneral::LimitRadianAngle(phi - yaw); float neededYawTurn = CGeneral::LimitRadianAngle(targetYaw - yaw);
pitch *= Cos(neededPhiTurn); pitch *= Cos(neededYawTurn);
float neededThetaTurn = CGeneral::LimitRadianAngle(theta - pitch); float neededPitchTurn = CGeneral::LimitRadianAngle(targetPitch - pitch);
LimbMoveStatus headStatus = MoveLimb(m_headOrient, neededPhiTurn, neededThetaTurn, ms_headInfo); LimbMoveStatus headStatus = MoveLimb(m_headOrient, neededYawTurn, neededPitchTurn, ms_headInfo);
if (headStatus == ANGLES_SET_TO_MAX) if (headStatus == ANGLES_SET_TO_MAX)
success = false; success = false;
if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY)) { if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY)) {
float remainingTurn = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur); float remainingTurn = CGeneral::LimitRadianAngle(targetYaw - m_ped->m_fRotationCur);
if (MoveLimb(m_torsoOrient, remainingTurn, theta, ms_torsoInfo)) if (MoveLimb(m_torsoOrient, remainingTurn, targetPitch, ms_torsoInfo))
success = true; success = true;
} }
CMatrix nextFrame = CMatrix(frameMat); CMatrix nextFrame = CMatrix(frameMat);
CVector framePos = nextFrame.GetPosition(); CVector framePos = nextFrame.GetPosition();
nextFrame.SetRotateZ(m_headOrient.theta); nextFrame.SetRotateZ(m_headOrient.pitch);
nextFrame.RotateX(m_headOrient.phi); nextFrame.RotateX(m_headOrient.yaw);
nextFrame.GetPosition() += framePos; nextFrame.GetPosition() += framePos;
nextFrame.UpdateRW(); nextFrame.UpdateRW();
@ -320,32 +320,32 @@ CPedIK::LookInDirection(float phi, float theta)
bool bool
CPedIK::LookAtPosition(CVector const &pos) CPedIK::LookAtPosition(CVector const &pos)
{ {
float phiToFace = CGeneral::GetRadianAngleBetweenPoints( float yawToFace = CGeneral::GetRadianAngleBetweenPoints(
pos.x, pos.y, pos.x, pos.y,
m_ped->GetPosition().x, m_ped->GetPosition().y); m_ped->GetPosition().x, m_ped->GetPosition().y);
float thetaToFace = CGeneral::GetRadianAngleBetweenPoints( float pitchToFace = CGeneral::GetRadianAngleBetweenPoints(
pos.z, (m_ped->GetPosition() - pos).Magnitude2D(), pos.z, (m_ped->GetPosition() - pos).Magnitude2D(),
m_ped->GetPosition().z, 0.0f); m_ped->GetPosition().z, 0.0f);
return LookInDirection(phiToFace, thetaToFace); return LookInDirection(yawToFace, pitchToFace);
} }
bool bool
CPedIK::PointGunInDirection(float phi, float theta) CPedIK::PointGunInDirection(float targetYaw, float targetPitch)
{ {
bool result = true; bool result = true;
bool armPointedToGun = false; bool armPointedToGun = false;
float angle = CGeneral::LimitRadianAngle(phi - m_ped->m_fRotationCur); float angle = CGeneral::LimitRadianAngle(targetYaw - m_ped->m_fRotationCur);
m_flags &= (~GUN_POINTED_SUCCESSFULLY); m_flags &= (~GUN_POINTED_SUCCESSFULLY);
m_flags |= LOOKAROUND_HEAD_ONLY; m_flags |= LOOKAROUND_HEAD_ONLY;
if (m_flags & AIMS_WITH_ARM) { if (m_flags & AIMS_WITH_ARM) {
armPointedToGun = PointGunInDirectionUsingArm(angle, theta); armPointedToGun = PointGunInDirectionUsingArm(angle, targetPitch);
angle = CGeneral::LimitRadianAngle(angle - m_upperArmOrient.phi); angle = CGeneral::LimitRadianAngle(angle - m_upperArmOrient.yaw);
} }
if (armPointedToGun) { if (armPointedToGun) {
if (m_flags & AIMS_WITH_ARM && m_torsoOrient.phi * m_upperArmOrient.phi < 0.0f) if (m_flags & AIMS_WITH_ARM && m_torsoOrient.yaw * m_upperArmOrient.yaw < 0.0f)
MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.theta, ms_torsoInfo); MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.pitch, ms_torsoInfo);
} else { } else {
// Unused code // Unused code
RwMatrix *matrix; RwMatrix *matrix;
@ -365,7 +365,7 @@ CPedIK::PointGunInDirection(float phi, float theta)
} }
// //
LimbMoveStatus status = MoveLimb(m_torsoOrient, angle, theta, ms_torsoInfo); LimbMoveStatus status = MoveLimb(m_torsoOrient, angle, targetPitch, ms_torsoInfo);
if (status == ANGLES_SET_TO_MAX) if (status == ANGLES_SET_TO_MAX)
result = false; result = false;
else if (status == ANGLES_SET_EXACTLY) else if (status == ANGLES_SET_EXACTLY)
@ -379,7 +379,7 @@ CPedIK::PointGunInDirection(float phi, float theta)
} }
bool bool
CPedIK::PointGunInDirectionUsingArm(float phi, float theta) CPedIK::PointGunInDirectionUsingArm(float targetYaw, float targetPitch)
{ {
bool result = false; bool result = false;
@ -410,18 +410,18 @@ CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
RwV3d rightVector = { 0.0f, 0.0f, 1.0f }; RwV3d rightVector = { 0.0f, 0.0f, 1.0f };
RwV3d forwardVector = { 1.0f, 0.0f, 0.0f }; RwV3d forwardVector = { 1.0f, 0.0f, 0.0f };
float uaPhi, uaTheta; float uaYaw, uaPitch;
#ifdef PED_SKIN #ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){ if(IsClumpSkinned(m_ped->GetClump())){
uaPhi = phi; uaYaw = targetYaw;
uaTheta = theta + DEGTORAD(10.0f); uaPitch = targetPitch + DEGTORAD(10.0f);
}else }else
#endif #endif
{ {
uaPhi = phi - m_torsoOrient.phi - DEGTORAD(15.0f); uaYaw = targetYaw - m_torsoOrient.yaw - DEGTORAD(15.0f);
uaTheta = CGeneral::LimitRadianAngle(theta - pitch); uaPitch = CGeneral::LimitRadianAngle(targetPitch - pitch);
} }
LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaPhi, uaTheta, ms_upperArmInfo); LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaYaw, uaPitch, ms_upperArmInfo);
if (uaStatus == ANGLES_SET_EXACTLY) { if (uaStatus == ANGLES_SET_EXACTLY) {
m_flags |= GUN_POINTED_SUCCESSFULLY; m_flags |= GUN_POINTED_SUCCESSFULLY;
result = true; result = true;
@ -433,13 +433,13 @@ CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
if(!IsClumpSkinned(m_ped->GetClump())) if(!IsClumpSkinned(m_ped->GetClump()))
#endif #endif
if (uaStatus == ANGLES_SET_TO_MAX) { if (uaStatus == ANGLES_SET_TO_MAX) {
float laPhi = uaPhi - m_upperArmOrient.phi; float laYaw = uaYaw - m_upperArmOrient.yaw;
LimbMoveStatus laStatus; LimbMoveStatus laStatus;
if (laPhi > 0.0f) if (laYaw > 0.0f)
laStatus = MoveLimb(m_lowerArmOrient, laPhi, -DEGTORAD(45.0f), ms_lowerArmInfo); laStatus = MoveLimb(m_lowerArmOrient, laYaw, -DEGTORAD(45.0f), ms_lowerArmInfo);
else else
laStatus = MoveLimb(m_lowerArmOrient, laPhi, 0.0f, ms_lowerArmInfo); laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
if (laStatus == ANGLES_SET_EXACTLY) { if (laStatus == ANGLES_SET_EXACTLY) {
m_flags |= GUN_POINTED_SUCCESSFULLY; m_flags |= GUN_POINTED_SUCCESSFULLY;
@ -447,16 +447,16 @@ CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
} }
RwFrame *child = GetFirstChild(m_ped->m_pFrames[PED_UPPERARMR]->frame); RwFrame *child = GetFirstChild(m_ped->m_pFrames[PED_UPPERARMR]->frame);
RwV3d pos = RwFrameGetMatrix(child)->pos; RwV3d pos = RwFrameGetMatrix(child)->pos;
RwMatrixRotate(RwFrameGetMatrix(child), &forwardVector, RADTODEG(m_lowerArmOrient.theta), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(child), &forwardVector, RADTODEG(m_lowerArmOrient.pitch), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(child), &rightVector, RADTODEG(-m_lowerArmOrient.phi), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(child), &rightVector, RADTODEG(-m_lowerArmOrient.yaw), rwCOMBINEPOSTCONCAT);
RwFrameGetMatrix(child)->pos = pos; RwFrameGetMatrix(child)->pos = pos;
} }
#ifdef PED_SKIN #ifdef PED_SKIN
if(IsClumpSkinned(m_ped->GetClump())){ if(IsClumpSkinned(m_ped->GetClump())){
RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q; RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q;
RtQuatRotate(q, &XaxisIK, RADTODEG(m_upperArmOrient.phi), rwCOMBINEPOSTCONCAT); RtQuatRotate(q, &XaxisIK, RADTODEG(m_upperArmOrient.yaw), rwCOMBINEPOSTCONCAT);
RtQuatRotate(q, &ZaxisIK, RADTODEG(m_upperArmOrient.theta), rwCOMBINEPOSTCONCAT); RtQuatRotate(q, &ZaxisIK, RADTODEG(m_upperArmOrient.pitch), rwCOMBINEPOSTCONCAT);
m_ped->bDontAcceptIKLookAts = true; m_ped->bDontAcceptIKLookAts = true;
}else }else
#endif #endif
@ -464,8 +464,8 @@ CPedIK::PointGunInDirectionUsingArm(float phi, float theta)
RwFrame *frame = m_ped->m_pFrames[PED_UPPERARMR]->frame; RwFrame *frame = m_ped->m_pFrames[PED_UPPERARMR]->frame;
// with PED_SKIN we're also getting upVector here // with PED_SKIN we're also getting upVector here
RwV3d pos = RwFrameGetMatrix(frame)->pos; RwV3d pos = RwFrameGetMatrix(frame)->pos;
RwMatrixRotate(RwFrameGetMatrix(frame), &rightVector, RADTODEG(m_upperArmOrient.theta), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(frame), &rightVector, RADTODEG(m_upperArmOrient.pitch), rwCOMBINEPOSTCONCAT);
RwMatrixRotate(RwFrameGetMatrix(frame), &upVector, RADTODEG(m_upperArmOrient.phi), rwCOMBINEPOSTCONCAT); RwMatrixRotate(RwFrameGetMatrix(frame), &upVector, RADTODEG(m_upperArmOrient.yaw), rwCOMBINEPOSTCONCAT);
RwFrameGetMatrix(frame)->pos = pos; RwFrameGetMatrix(frame)->pos = pos;
} }
return result; return result;
@ -511,8 +511,8 @@ CPedIK::RestoreLookAt(void)
CMatrix matrix(mat); CMatrix matrix(mat);
CVector pos = matrix.GetPosition(); CVector pos = matrix.GetPosition();
matrix.SetRotateZ(m_headOrient.theta); matrix.SetRotateZ(m_headOrient.pitch);
matrix.RotateX(m_headOrient.phi); matrix.RotateX(m_headOrient.yaw);
matrix.Translate(pos); matrix.Translate(pos);
matrix.UpdateRW(); matrix.UpdateRW();
} }

12
src/peds/PedIK.h
View File

@ -4,8 +4,8 @@
struct LimbOrientation struct LimbOrientation
{ {
float phi; float yaw;
float theta; float pitch;
}; };
struct LimbMovementInfo { struct LimbMovementInfo {
@ -48,8 +48,8 @@ public:
static LimbMovementInfo ms_lowerArmInfo; static LimbMovementInfo ms_lowerArmInfo;
CPedIK(CPed *ped); CPedIK(CPed *ped);
bool PointGunInDirection(float phi, float theta); bool PointGunInDirection(float targetYaw, float targetPitch);
bool PointGunInDirectionUsingArm(float phi, float theta); bool PointGunInDirectionUsingArm(float targetYaw, float targetPitch);
bool PointGunAtPosition(CVector const& position); bool PointGunAtPosition(CVector const& position);
void GetComponentPosition(RwV3d *pos, uint32 node); void GetComponentPosition(RwV3d *pos, uint32 node);
static RwMatrix *GetWorldMatrix(RwFrame *source, RwMatrix *destination); static RwMatrix *GetWorldMatrix(RwFrame *source, RwMatrix *destination);
@ -57,10 +57,10 @@ public:
void ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch); void ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch);
void ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, float *pitch); void ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, float *pitch);
void ExtractYawAndPitchWorld(RwMatrix *mat, float *yaw, float *pitch); void ExtractYawAndPitchWorld(RwMatrix *mat, float *yaw, float *pitch);
LimbMoveStatus MoveLimb(LimbOrientation &limb, float approxPhi, float approxTheta, LimbMovementInfo &moveInfo); LimbMoveStatus MoveLimb(LimbOrientation &limb, float targetYaw, float targetPitch, LimbMovementInfo &moveInfo);
bool RestoreGunPosn(void); bool RestoreGunPosn(void);
void RotateHead(void); void RotateHead(void);
bool LookInDirection(float phi, float theta); bool LookInDirection(float targetYaw, float targetPitch);
bool LookAtPosition(CVector const& pos); bool LookAtPosition(CVector const& pos);
bool RestoreLookAt(void); bool RestoreLookAt(void);
}; };