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/*
===========================================================================
Doom 3 GPL Source Code
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
Doom 3 Source Code is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Doom 3 Source Code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
===========================================================================
*/
#include "../idlib/precompiled.h"
#pragma hdrstop
#include "Game_local.h"
/*
===============================================================================
Articulated figure controller.
===============================================================================
*/
#define ARTICULATED_FIGURE_ANIM "af_pose"
#define POSE_BOUNDS_EXPANSION 5.0f
/*
================
idAF::idAF
================
*/
idAF::idAF( void ) {
self = NULL;
animator = NULL;
modifiedAnim = 0;
baseOrigin.Zero();
baseAxis.Identity();
poseTime = -1;
restStartTime = -1;
isLoaded = false;
isActive = false;
hasBindConstraints = false;
}
/*
================
idAF::~idAF
================
*/
idAF::~idAF( void ) {
}
/*
================
idAF::Save
================
*/
void idAF::Save( idSaveGame *savefile ) const {
savefile->WriteObject( self );
savefile->WriteString( GetName() );
savefile->WriteBool( hasBindConstraints );
savefile->WriteVec3( baseOrigin );
savefile->WriteMat3( baseAxis );
savefile->WriteInt( poseTime );
savefile->WriteInt( restStartTime );
savefile->WriteBool( isLoaded );
savefile->WriteBool( isActive );
savefile->WriteStaticObject( physicsObj );
}
/*
================
idAF::Restore
================
*/
void idAF::Restore( idRestoreGame *savefile ) {
savefile->ReadObject( reinterpret_cast<idClass *&>( self ) );
savefile->ReadString( name );
savefile->ReadBool( hasBindConstraints );
savefile->ReadVec3( baseOrigin );
savefile->ReadMat3( baseAxis );
savefile->ReadInt( poseTime );
savefile->ReadInt( restStartTime );
savefile->ReadBool( isLoaded );
savefile->ReadBool( isActive );
animator = NULL;
modifiedAnim = 0;
if ( self ) {
SetAnimator( self->GetAnimator() );
Load( self, name );
if ( hasBindConstraints ) {
AddBindConstraints();
}
}
savefile->ReadStaticObject( physicsObj );
if ( self ) {
if ( isActive ) {
// clear all animations
animator->ClearAllAnims( gameLocal.time, 0 );
animator->ClearAllJoints();
// switch to articulated figure physics
self->RestorePhysics( &physicsObj );
physicsObj.EnableClip();
}
UpdateAnimation();
}
}
/*
================
idAF::UpdateAnimation
================
*/
bool idAF::UpdateAnimation( void ) {
int i;
idVec3 origin, renderOrigin, bodyOrigin;
idMat3 axis, renderAxis, bodyAxis;
renderEntity_t *renderEntity;
if ( !IsLoaded() ) {
return false;
}
if ( !IsActive() ) {
return false;
}
renderEntity = self->GetRenderEntity();
if ( !renderEntity ) {
return false;
}
if ( physicsObj.IsAtRest() ) {
if ( restStartTime == physicsObj.GetRestStartTime() ) {
return false;
}
restStartTime = physicsObj.GetRestStartTime();
}
// get the render position
origin = physicsObj.GetOrigin( 0 );
axis = physicsObj.GetAxis( 0 );
renderAxis = baseAxis.Transpose() * axis;
renderOrigin = origin - baseOrigin * renderAxis;
// create an animation frame which reflects the current pose of the articulated figure
animator->InitAFPose();
for ( i = 0; i < jointMods.Num(); i++ ) {
// check for the origin joint
if ( jointMods[i].jointHandle == 0 ) {
continue;
}
bodyOrigin = physicsObj.GetOrigin( jointMods[i].bodyId );
bodyAxis = physicsObj.GetAxis( jointMods[i].bodyId );
axis = jointMods[i].jointBodyAxis.Transpose() * ( bodyAxis * renderAxis.Transpose() );
origin = ( bodyOrigin - jointMods[i].jointBodyOrigin * axis - renderOrigin ) * renderAxis.Transpose();
animator->SetAFPoseJointMod( jointMods[i].jointHandle, jointMods[i].jointMod, axis, origin );
}
animator->FinishAFPose( modifiedAnim, GetBounds().Expand( POSE_BOUNDS_EXPANSION ), gameLocal.time );
animator->SetAFPoseBlendWeight( 1.0f );
return true;
}
/*
================
idAF::GetBounds
returns bounds for the current pose
================
*/
idBounds idAF::GetBounds( void ) const {
int i;
idAFBody *body;
idVec3 origin, entityOrigin;
idMat3 axis, entityAxis;
idBounds bounds, b;
bounds.Clear();
// get model base transform
origin = physicsObj.GetOrigin( 0 );
axis = physicsObj.GetAxis( 0 );
entityAxis = baseAxis.Transpose() * axis;
entityOrigin = origin - baseOrigin * entityAxis;
// get bounds relative to base
for ( i = 0; i < jointMods.Num(); i++ ) {
body = physicsObj.GetBody( jointMods[i].bodyId );
origin = ( body->GetWorldOrigin() - entityOrigin ) * entityAxis.Transpose();
axis = body->GetWorldAxis() * entityAxis.Transpose();
b.FromTransformedBounds( body->GetClipModel()->GetBounds(), origin, axis );
bounds += b;
}
return bounds;
}
/*
================
idAF::SetupPose
Transforms the articulated figure to match the current animation pose of the given entity.
================
*/
void idAF::SetupPose( idEntity *ent, int time ) {
int i;
idAFBody *body;
idVec3 origin;
idMat3 axis;
idAnimator *animatorPtr;
renderEntity_t *renderEntity;
if ( !IsLoaded() || !ent ) {
return;
}
animatorPtr = ent->GetAnimator();
if ( !animatorPtr ) {
return;
}
renderEntity = ent->GetRenderEntity();
if ( !renderEntity ) {
return;
}
// if the animation is driven by the physics
if ( self->GetPhysics() == &physicsObj ) {
return;
}
// if the pose was already updated this frame
if ( poseTime == time ) {
return;
}
poseTime = time;
for ( i = 0; i < jointMods.Num(); i++ ) {
body = physicsObj.GetBody( jointMods[i].bodyId );
animatorPtr->GetJointTransform( jointMods[i].jointHandle, time, origin, axis );
body->SetWorldOrigin( renderEntity->origin + ( origin + jointMods[i].jointBodyOrigin * axis ) * renderEntity->axis );
body->SetWorldAxis( jointMods[i].jointBodyAxis * axis * renderEntity->axis );
}
if ( isActive ) {
physicsObj.UpdateClipModels();
}
}
/*
================
idAF::ChangePose
Change the articulated figure to match the current animation pose of the given entity
and set the velocity relative to the previous pose.
================
*/
void idAF::ChangePose( idEntity *ent, int time ) {
int i;
float invDelta;
idAFBody *body;
idVec3 origin, lastOrigin;
idMat3 axis;
idAnimator *animatorPtr;
renderEntity_t *renderEntity;
if ( !IsLoaded() || !ent ) {
return;
}
animatorPtr = ent->GetAnimator();
if ( !animatorPtr ) {
return;
}
renderEntity = ent->GetRenderEntity();
if ( !renderEntity ) {
return;
}
// if the animation is driven by the physics
if ( self->GetPhysics() == &physicsObj ) {
return;
}
// if the pose was already updated this frame
if ( poseTime == time ) {
return;
}
invDelta = 1.0f / MS2SEC( time - poseTime );
poseTime = time;
for ( i = 0; i < jointMods.Num(); i++ ) {
body = physicsObj.GetBody( jointMods[i].bodyId );
animatorPtr->GetJointTransform( jointMods[i].jointHandle, time, origin, axis );
lastOrigin = body->GetWorldOrigin();
body->SetWorldOrigin( renderEntity->origin + ( origin + jointMods[i].jointBodyOrigin * axis ) * renderEntity->axis );
body->SetWorldAxis( jointMods[i].jointBodyAxis * axis * renderEntity->axis );
body->SetLinearVelocity( ( body->GetWorldOrigin() - lastOrigin ) * invDelta );
}
physicsObj.UpdateClipModels();
}
/*
================
idAF::EntitiesTouchingAF
================
*/
int idAF::EntitiesTouchingAF( afTouch_t touchList[ MAX_GENTITIES ] ) const {
int i, j, numClipModels;
idAFBody *body;
idClipModel *cm;
idClipModel *clipModels[ MAX_GENTITIES ];
int numTouching;
if ( !IsLoaded() ) {
return 0;
}
numTouching = 0;
numClipModels = gameLocal.clip.ClipModelsTouchingBounds( physicsObj.GetAbsBounds(), -1, clipModels, MAX_GENTITIES );
for ( i = 0; i < jointMods.Num(); i++ ) {
body = physicsObj.GetBody( jointMods[i].bodyId );
for ( j = 0; j < numClipModels; j++ ) {
cm = clipModels[j];
if ( !cm || cm->GetEntity() == self ) {
continue;
}
if ( !cm->IsTraceModel() ) {
continue;
}
if ( !body->GetClipModel()->GetAbsBounds().IntersectsBounds( cm->GetAbsBounds() ) ) {
continue;
}
if ( gameLocal.clip.ContentsModel( body->GetWorldOrigin(), body->GetClipModel(), body->GetWorldAxis(), -1, cm->Handle(), cm->GetOrigin(), cm->GetAxis() ) ) {
touchList[ numTouching ].touchedByBody = body;
touchList[ numTouching ].touchedClipModel = cm;
touchList[ numTouching ].touchedEnt = cm->GetEntity();
numTouching++;
clipModels[j] = NULL;
}
}
}
return numTouching;
}
/*
================
idAF::BodyForClipModelId
================
*/
int idAF::BodyForClipModelId( int id ) const {
if ( id >= 0 ) {
return id;
} else {
id = CLIPMODEL_ID_TO_JOINT_HANDLE( id );
if ( id < jointBody.Num() ) {
return jointBody[id];
} else {
return 0;
}
}
}
/*
================
idAF::GetPhysicsToVisualTransform
================
*/
void idAF::GetPhysicsToVisualTransform( idVec3 &origin, idMat3 &axis ) const {
origin = - baseOrigin;
axis = baseAxis.Transpose();
}
/*
================
idAF::GetImpactInfo
================
*/
void idAF::GetImpactInfo( idEntity *ent, int id, const idVec3 &point, impactInfo_t *info ) {
SetupPose( self, gameLocal.time );
physicsObj.GetImpactInfo( BodyForClipModelId( id ), point, info );
}
/*
================
idAF::ApplyImpulse
================
*/
void idAF::ApplyImpulse( idEntity *ent, int id, const idVec3 &point, const idVec3 &impulse ) {
SetupPose( self, gameLocal.time );
physicsObj.ApplyImpulse( BodyForClipModelId( id ), point, impulse );
}
/*
================
idAF::AddForce
================
*/
void idAF::AddForce( idEntity *ent, int id, const idVec3 &point, const idVec3 &force ) {
SetupPose( self, gameLocal.time );
physicsObj.AddForce( BodyForClipModelId( id ), point, force );
}
/*
================
idAF::AddBody
Adds a body.
================
*/
void idAF::AddBody( idAFBody *body, const idJointMat *joints, const char *jointName, const AFJointModType_t mod ) {
int index;
jointHandle_t handle;
idVec3 origin;
idMat3 axis;
handle = animator->GetJointHandle( jointName );
if ( handle == INVALID_JOINT ) {
gameLocal.Error( "idAF for entity '%s' at (%s) modifies unknown joint '%s'", self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0), jointName );
}
assert( handle < animator->NumJoints() );
origin = joints[ handle ].ToVec3();
axis = joints[ handle ].ToMat3();
index = jointMods.Num();
jointMods.SetNum( index + 1, false );
jointMods[index].bodyId = physicsObj.GetBodyId( body );
jointMods[index].jointHandle = handle;
jointMods[index].jointMod = mod;
jointMods[index].jointBodyOrigin = ( body->GetWorldOrigin() - origin ) * axis.Transpose();
jointMods[index].jointBodyAxis = body->GetWorldAxis() * axis.Transpose();
}
/*
================
idAF::SetBase
Sets the base body.
================
*/
void idAF::SetBase( idAFBody *body, const idJointMat *joints ) {
physicsObj.ForceBodyId( body, 0 );
baseOrigin = body->GetWorldOrigin();
baseAxis = body->GetWorldAxis();
AddBody( body, joints, animator->GetJointName( animator->GetFirstChild( "origin" ) ), AF_JOINTMOD_AXIS );
}
/*
================
idAF::LoadBody
================
*/
bool idAF::LoadBody( const idDeclAF_Body *fb, const idJointMat *joints ) {
int id, i;
float length, mass;
idTraceModel trm;
idClipModel *clip;
idAFBody *body;
idMat3 axis, inertiaTensor;
idVec3 centerOfMass, origin;
idBounds bounds;
idList<jointHandle_t> jointList;
origin = fb->origin.ToVec3();
axis = fb->angles.ToMat3();
bounds[0] = fb->v1.ToVec3();
bounds[1] = fb->v2.ToVec3();
switch( fb->modelType ) {
case TRM_BOX: {
trm.SetupBox( bounds );
break;
}
case TRM_OCTAHEDRON: {
trm.SetupOctahedron( bounds );
break;
}
case TRM_DODECAHEDRON: {
trm.SetupDodecahedron( bounds );
break;
}
case TRM_CYLINDER: {
trm.SetupCylinder( bounds, fb->numSides );
break;
}
case TRM_CONE: {
// place the apex at the origin
bounds[0].z -= bounds[1].z;
bounds[1].z = 0.0f;
trm.SetupCone( bounds, fb->numSides );
break;
}
case TRM_BONE: {
// direction of bone
axis[2] = fb->v2.ToVec3() - fb->v1.ToVec3();
length = axis[2].Normalize();
// axis of bone trace model
axis[2].NormalVectors( axis[0], axis[1] );
axis[1] = -axis[1];
// create bone trace model
trm.SetupBone( length, fb->width );
break;
}
default:
assert( 0 );
break;
}
trm.GetMassProperties( 1.0f, mass, centerOfMass, inertiaTensor );
trm.Translate( -centerOfMass );
origin += centerOfMass * axis;
body = physicsObj.GetBody( fb->name );
if ( body ) {
clip = body->GetClipModel();
if ( !clip->IsEqual( trm ) ) {
clip = new idClipModel( trm );
clip->SetContents( fb->contents );
clip->Link( gameLocal.clip, self, 0, origin, axis );
body->SetClipModel( clip );
}
clip->SetContents( fb->contents );
body->SetDensity( fb->density, fb->inertiaScale );
body->SetWorldOrigin( origin );
body->SetWorldAxis( axis );
id = physicsObj.GetBodyId( body );
}
else {
clip = new idClipModel( trm );
clip->SetContents( fb->contents );
clip->Link( gameLocal.clip, self, 0, origin, axis );
body = new idAFBody( fb->name, clip, fb->density );
if ( fb->inertiaScale != mat3_identity ) {
body->SetDensity( fb->density, fb->inertiaScale );
}
id = physicsObj.AddBody( body );
}
if ( fb->linearFriction != -1.0f ) {
body->SetFriction( fb->linearFriction, fb->angularFriction, fb->contactFriction );
}
body->SetClipMask( fb->clipMask );
body->SetSelfCollision( fb->selfCollision );
if ( fb->jointName == "origin" ) {
SetBase( body, joints );
} else {
AFJointModType_t mod;
if ( fb->jointMod == DECLAF_JOINTMOD_AXIS ) {
mod = AF_JOINTMOD_AXIS;
} else if ( fb->jointMod == DECLAF_JOINTMOD_ORIGIN ) {
mod = AF_JOINTMOD_ORIGIN;
} else if ( fb->jointMod == DECLAF_JOINTMOD_BOTH ) {
mod = AF_JOINTMOD_BOTH;
} else {
mod = AF_JOINTMOD_AXIS;
}
AddBody( body, joints, fb->jointName, mod );
}
if ( fb->frictionDirection.ToVec3() != vec3_origin ) {
body->SetFrictionDirection( fb->frictionDirection.ToVec3() );
}
if ( fb->contactMotorDirection.ToVec3() != vec3_origin ) {
body->SetContactMotorDirection( fb->contactMotorDirection.ToVec3() );
}
// update table to find the nearest articulated figure body for a joint of the skeletal model
animator->GetJointList( fb->containedJoints, jointList );
for( i = 0; i < jointList.Num(); i++ ) {
if ( jointBody[ jointList[ i ] ] != -1 ) {
gameLocal.Warning( "%s: joint '%s' is already contained by body '%s'",
name.c_str(), animator->GetJointName( (jointHandle_t)jointList[i] ),
physicsObj.GetBody( jointBody[ jointList[ i ] ] )->GetName().c_str() );
}
jointBody[ jointList[ i ] ] = id;
}
return true;
}
/*
================
idAF::LoadConstraint
================
*/
bool idAF::LoadConstraint( const idDeclAF_Constraint *fc ) {
idAFBody *body1, *body2;
idAngles angles;
idMat3 axis;
body1 = physicsObj.GetBody( fc->body1 );
body2 = physicsObj.GetBody( fc->body2 );
switch( fc->type ) {
case DECLAF_CONSTRAINT_FIXED: {
idAFConstraint_Fixed *c;
c = static_cast<idAFConstraint_Fixed *>(physicsObj.GetConstraint( fc->name ));
if ( c ) {
c->SetBody1( body1 );
c->SetBody2( body2 );
}
else {
c = new idAFConstraint_Fixed( fc->name, body1, body2 );
physicsObj.AddConstraint( c );
}
break;
}
case DECLAF_CONSTRAINT_BALLANDSOCKETJOINT: {
idAFConstraint_BallAndSocketJoint *c;
c = static_cast<idAFConstraint_BallAndSocketJoint *>(physicsObj.GetConstraint( fc->name ));
if ( c ) {
c->SetBody1( body1 );
c->SetBody2( body2 );
}
else {
c = new idAFConstraint_BallAndSocketJoint( fc->name, body1, body2 );
physicsObj.AddConstraint( c );
}
c->SetAnchor( fc->anchor.ToVec3() );
c->SetFriction( fc->friction );
switch( fc->limit ) {
case idDeclAF_Constraint::LIMIT_CONE: {
c->SetConeLimit( fc->limitAxis.ToVec3(), fc->limitAngles[0], fc->shaft[0].ToVec3() );
break;
}
case idDeclAF_Constraint::LIMIT_PYRAMID: {
angles = fc->limitAxis.ToVec3().ToAngles();
angles.roll = fc->limitAngles[2];
axis = angles.ToMat3();
c->SetPyramidLimit( axis[0], axis[1], fc->limitAngles[0], fc->limitAngles[1], fc->shaft[0].ToVec3() );
break;
}
default: {
c->SetNoLimit();
break;
}
}
break;
}
case DECLAF_CONSTRAINT_UNIVERSALJOINT: {
idAFConstraint_UniversalJoint *c;
c = static_cast<idAFConstraint_UniversalJoint *>(physicsObj.GetConstraint( fc->name ));
if ( c ) {
c->SetBody1( body1 );
c->SetBody2( body2 );
}
else {
c = new idAFConstraint_UniversalJoint( fc->name, body1, body2 );
physicsObj.AddConstraint( c );
}
c->SetAnchor( fc->anchor.ToVec3() );
c->SetShafts( fc->shaft[0].ToVec3(), fc->shaft[1].ToVec3() );
c->SetFriction( fc->friction );
switch( fc->limit ) {
case idDeclAF_Constraint::LIMIT_CONE: {
c->SetConeLimit( fc->limitAxis.ToVec3(), fc->limitAngles[0] );
break;
}
case idDeclAF_Constraint::LIMIT_PYRAMID: {
angles = fc->limitAxis.ToVec3().ToAngles();
angles.roll = fc->limitAngles[2];
axis = angles.ToMat3();
c->SetPyramidLimit( axis[0], axis[1], fc->limitAngles[0], fc->limitAngles[1] );
break;
}
default: {
c->SetNoLimit();
break;
}
}
break;
}
case DECLAF_CONSTRAINT_HINGE: {
idAFConstraint_Hinge *c;
c = static_cast<idAFConstraint_Hinge *>(physicsObj.GetConstraint( fc->name ));
if ( c ) {
c->SetBody1( body1 );
c->SetBody2( body2 );
}
else {
c = new idAFConstraint_Hinge( fc->name, body1, body2 );
physicsObj.AddConstraint( c );
}
c->SetAnchor( fc->anchor.ToVec3() );
c->SetAxis( fc->axis.ToVec3() );
c->SetFriction( fc->friction );
switch( fc->limit ) {
case idDeclAF_Constraint::LIMIT_CONE: {
idVec3 left, up, axis, shaft;
fc->axis.ToVec3().OrthogonalBasis( left, up );
axis = left * idRotation( vec3_origin, fc->axis.ToVec3(), fc->limitAngles[0] );
shaft = left * idRotation( vec3_origin, fc->axis.ToVec3(), fc->limitAngles[2] );
c->SetLimit( axis, fc->limitAngles[1], shaft );
break;
}
default: {
c->SetNoLimit();
break;
}
}
break;
}
case DECLAF_CONSTRAINT_SLIDER: {
idAFConstraint_Slider *c;
c = static_cast<idAFConstraint_Slider *>(physicsObj.GetConstraint( fc->name ));
if ( c ) {
c->SetBody1( body1 );
c->SetBody2( body2 );
}
else {
c = new idAFConstraint_Slider( fc->name, body1, body2 );
physicsObj.AddConstraint( c );
}
c->SetAxis( fc->axis.ToVec3() );
break;
}
case DECLAF_CONSTRAINT_SPRING: {
idAFConstraint_Spring *c;
c = static_cast<idAFConstraint_Spring *>(physicsObj.GetConstraint( fc->name ));
if ( c ) {
c->SetBody1( body1 );
c->SetBody2( body2 );
}
else {
c = new idAFConstraint_Spring( fc->name, body1, body2 );
physicsObj.AddConstraint( c );
}
c->SetAnchor( fc->anchor.ToVec3(), fc->anchor2.ToVec3() );
c->SetSpring( fc->stretch, fc->compress, fc->damping, fc->restLength );
c->SetLimit( fc->minLength, fc->maxLength );
break;
}
}
return true;
}
/*
================
GetJointTransform
================
*/
static bool GetJointTransform( void *model, const idJointMat *frame, const char *jointName, idVec3 &origin, idMat3 &axis ) {
jointHandle_t joint;
joint = reinterpret_cast<idAnimator *>(model)->GetJointHandle( jointName );
if ( ( joint >= 0 ) && ( joint < reinterpret_cast<idAnimator *>(model)->NumJoints() ) ) {
origin = frame[ joint ].ToVec3();
axis = frame[ joint ].ToMat3();
return true;
} else {
return false;
}
}
/*
================
idAF::Load
================
*/
bool idAF::Load( idEntity *ent, const char *fileName ) {
int i, j;
const idDeclAF *file;
const idDeclModelDef *modelDef;
idRenderModel *model;
int numJoints;
idJointMat *joints;
assert( ent );
self = ent;
physicsObj.SetSelf( self );
if ( animator == NULL ) {
gameLocal.Warning( "Couldn't load af '%s' for entity '%s' at (%s): NULL animator\n", name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
name = fileName;
name.StripFileExtension();
file = static_cast<const idDeclAF *>( declManager->FindType( DECL_AF, name ) );
if ( !file ) {
gameLocal.Warning( "Couldn't load af '%s' for entity '%s' at (%s)\n", name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
if ( file->bodies.Num() == 0 || file->bodies[0]->jointName != "origin" ) {
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no body which modifies the origin joint.",
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
return false;
}
modelDef = animator->ModelDef();
if ( modelDef == NULL || modelDef->GetState() == DS_DEFAULTED ) {
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no or defaulted modelDef '%s'",
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), modelDef ? modelDef->GetName() : "" );
return false;
}
model = animator->ModelHandle();
if ( model == NULL || model->IsDefaultModel() ) {
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no or defaulted model '%s'",
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), model ? model->Name() : "" );
return false;
}
// get the modified animation
modifiedAnim = animator->GetAnim( ARTICULATED_FIGURE_ANIM );
if ( !modifiedAnim ) {
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no modified animation '%s'",
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), ARTICULATED_FIGURE_ANIM );
return false;
}
// create the animation frame used to setup the articulated figure
numJoints = animator->NumJoints();
joints = ( idJointMat * )_alloca16( numJoints * sizeof( joints[0] ) );
gameEdit->ANIM_CreateAnimFrame( model, animator->GetAnim( modifiedAnim )->MD5Anim( 0 ), numJoints, joints, 1, animator->ModelDef()->GetVisualOffset(), animator->RemoveOrigin() );
// set all vector positions from model joints
file->Finish( GetJointTransform, joints, animator );
// initialize articulated figure physics
physicsObj.SetGravity( gameLocal.GetGravity() );
physicsObj.SetClipMask( file->clipMask );
physicsObj.SetDefaultFriction( file->defaultLinearFriction, file->defaultAngularFriction, file->defaultContactFriction );
physicsObj.SetSuspendSpeed( file->suspendVelocity, file->suspendAcceleration );
physicsObj.SetSuspendTolerance( file->noMoveTime, file->noMoveTranslation, file->noMoveRotation );
physicsObj.SetSuspendTime( file->minMoveTime, file->maxMoveTime );
physicsObj.SetSelfCollision( file->selfCollision );
// clear the list with transforms from joints to bodies
jointMods.SetNum( 0, false );
// clear the joint to body conversion list
jointBody.AssureSize( animator->NumJoints() );
for ( i = 0; i < jointBody.Num(); i++ ) {
jointBody[i] = -1;
}
// delete any bodies in the physicsObj that are no longer in the idDeclAF
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
idAFBody *body = physicsObj.GetBody( i );
for ( j = 0; j < file->bodies.Num(); j++ ) {
if ( file->bodies[j]->name.Icmp( body->GetName() ) == 0 ) {
break;
}
}
if ( j >= file->bodies.Num() ) {
physicsObj.DeleteBody( i );
i--;
}
}
// delete any constraints in the physicsObj that are no longer in the idDeclAF
for ( i = 0; i < physicsObj.GetNumConstraints(); i++ ) {
idAFConstraint *constraint = physicsObj.GetConstraint( i );
for ( j = 0; j < file->constraints.Num(); j++ ) {
if ( file->constraints[j]->name.Icmp( constraint->GetName() ) == 0 &&
file->constraints[j]->type == constraint->GetType() ) {
break;
}
}
if ( j >= file->constraints.Num() ) {
physicsObj.DeleteConstraint( i );
i--;
}
}
// load bodies from the file
for ( i = 0; i < file->bodies.Num(); i++ ) {
LoadBody( file->bodies[i], joints );
}
// load constraints from the file
for ( i = 0; i < file->constraints.Num(); i++ ) {
LoadConstraint( file->constraints[i] );
}
physicsObj.UpdateClipModels();
// check if each joint is contained by a body
for( i = 0; i < animator->NumJoints(); i++ ) {
if ( jointBody[i] == -1 ) {
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) joint '%s' is not contained by a body",
name.c_str(), self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0), animator->GetJointName( (jointHandle_t)i ) );
}
}
physicsObj.SetMass( file->totalMass );
physicsObj.SetChanged();
// disable the articulated figure for collision detection until activated
physicsObj.DisableClip();
isLoaded = true;
return true;
}
/*
================
idAF::Start
================
*/
void idAF::Start( void ) {
if ( !IsLoaded() ) {
return;
}
// clear all animations
animator->ClearAllAnims( gameLocal.time, 0 );
animator->ClearAllJoints();
// switch to articulated figure physics
self->SetPhysics( &physicsObj );
// start the articulated figure physics simulation
physicsObj.EnableClip();
physicsObj.Activate();
isActive = true;
}
/*
================
idAF::TestSolid
================
*/
bool idAF::TestSolid( void ) const {
int i;
idAFBody *body;
trace_t trace;
idStr str;
bool solid;
if ( !IsLoaded() ) {
return false;
}
if ( !af_testSolid.GetBool() ) {
return false;
}
solid = false;
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
body = physicsObj.GetBody( i );
if ( gameLocal.clip.Translation( trace, body->GetWorldOrigin(), body->GetWorldOrigin(), body->GetClipModel(), body->GetWorldAxis(), body->GetClipMask(), self ) ) {
float depth = idMath::Fabs( trace.c.point * trace.c.normal - trace.c.dist );
body->SetWorldOrigin( body->GetWorldOrigin() + trace.c.normal * ( depth + 8.0f ) );
gameLocal.DWarning( "%s: body '%s' stuck in %d (normal = %.2f %.2f %.2f, depth = %.2f)", self->name.c_str(),
body->GetName().c_str(), trace.c.contents, trace.c.normal.x, trace.c.normal.y, trace.c.normal.z, depth );
solid = true;
}
}
return solid;
}
/*
================
idAF::StartFromCurrentPose
================
*/
void idAF::StartFromCurrentPose( int inheritVelocityTime ) {
if ( !IsLoaded() ) {
return;
}
// if the ragdoll should inherit velocity from the animation
if ( inheritVelocityTime > 0 ) {
// make sure the ragdoll is at rest
physicsObj.PutToRest();
// set the pose for some time back
SetupPose( self, gameLocal.time - inheritVelocityTime );
// change the pose for the current time and set velocities
ChangePose( self, gameLocal.time );
}
else {
// transform the articulated figure to reflect the current animation pose
SetupPose( self, gameLocal.time );
}
physicsObj.UpdateClipModels();
TestSolid();
Start();
UpdateAnimation();
// update the render entity origin and axis
self->UpdateModel();
// make sure the renderer gets the updated origin and axis
self->Present();
}
/*
================
idAF::Stop
================
*/
void idAF::Stop( void ) {
// disable the articulated figure for collision detection
physicsObj.UnlinkClip();
isActive = false;
}
/*
================
idAF::Rest
================
*/
void idAF::Rest( void ) {
physicsObj.PutToRest();
}
/*
================
idAF::SetConstraintPosition
Only moves constraints that bind the entity to another entity.
================
*/
void idAF::SetConstraintPosition( const char *name, const idVec3 &pos ) {
idAFConstraint *constraint;
constraint = GetPhysics()->GetConstraint( name );
if ( !constraint ) {
gameLocal.Warning( "can't find a constraint with the name '%s'", name );
return;
}
if ( constraint->GetBody2() != NULL ) {
gameLocal.Warning( "constraint '%s' does not bind to another entity", name );
return;
}
switch( constraint->GetType() ) {
case CONSTRAINT_BALLANDSOCKETJOINT: {
idAFConstraint_BallAndSocketJoint *bs = static_cast<idAFConstraint_BallAndSocketJoint *>(constraint);
bs->Translate( pos - bs->GetAnchor() );
break;
}
case CONSTRAINT_UNIVERSALJOINT: {
idAFConstraint_UniversalJoint *uj = static_cast<idAFConstraint_UniversalJoint *>(constraint);
uj->Translate( pos - uj->GetAnchor() );
break;
}
case CONSTRAINT_HINGE: {
idAFConstraint_Hinge *hinge = static_cast<idAFConstraint_Hinge *>(constraint);
hinge->Translate( pos - hinge->GetAnchor() );
break;
}
default: {
gameLocal.Warning( "cannot set the constraint position for '%s'", name );
break;
}
}
}
/*
================
idAF::SaveState
================
*/
void idAF::SaveState( idDict &args ) const {
int i;
idAFBody *body;
idStr key, value;
for ( i = 0; i < jointMods.Num(); i++ ) {
body = physicsObj.GetBody( jointMods[i].bodyId );
key = "body " + body->GetName();
value = body->GetWorldOrigin().ToString( 8 );
value += " ";
value += body->GetWorldAxis().ToAngles().ToString( 8 );
args.Set( key, value );
}
}
/*
================
idAF::LoadState
================
*/
void idAF::LoadState( const idDict &args ) {
const idKeyValue *kv;
idStr name;
idAFBody *body;
idVec3 origin;
idAngles angles;
kv = args.MatchPrefix( "body ", NULL );
while ( kv ) {
name = kv->GetKey();
name.Strip( "body " );
body = physicsObj.GetBody( name );
if ( body ) {
sscanf( kv->GetValue(), "%f %f %f %f %f %f", &origin.x, &origin.y, &origin.z, &angles.pitch, &angles.yaw, &angles.roll );
body->SetWorldOrigin( origin );
body->SetWorldAxis( angles.ToMat3() );
} else {
gameLocal.Warning("Unknown body part %s in articulated figure %s", name.c_str(), this->name.c_str());
}
kv = args.MatchPrefix( "body ", kv );
}
physicsObj.UpdateClipModels();
}
/*
================
idAF::AddBindConstraints
================
*/
void idAF::AddBindConstraints( void ) {
const idKeyValue *kv;
idStr name;
idAFBody *body;
idLexer lexer;
idToken type, bodyName, jointName;
idVec3 origin, renderOrigin;
idMat3 axis, renderAxis;
if ( !IsLoaded() ) {
return;
}
const idDict &args = self->spawnArgs;
// get the render position
origin = physicsObj.GetOrigin( 0 );
axis = physicsObj.GetAxis( 0 );
renderAxis = baseAxis.Transpose() * axis;
renderOrigin = origin - baseOrigin * renderAxis;
// parse all the bind constraints
for ( kv = args.MatchPrefix( "bindConstraint ", NULL ); kv; kv = args.MatchPrefix( "bindConstraint ", kv ) ) {
name = kv->GetKey();
name.Strip( "bindConstraint " );
lexer.LoadMemory( kv->GetValue(), kv->GetValue().Length(), kv->GetKey() );
lexer.ReadToken( &type );
lexer.ReadToken( &bodyName );
body = physicsObj.GetBody( bodyName );
if ( !body ) {
gameLocal.Warning( "idAF::AddBindConstraints: body '%s' not found on entity '%s'", bodyName.c_str(), self->name.c_str() );
lexer.FreeSource();
continue;
}
if ( type.Icmp( "fixed" ) == 0 ) {
idAFConstraint_Fixed *c;
c = new idAFConstraint_Fixed( name, body, NULL );
physicsObj.AddConstraint( c );
}
else if ( type.Icmp( "ballAndSocket" ) == 0 ) {
idAFConstraint_BallAndSocketJoint *c;
c = new idAFConstraint_BallAndSocketJoint( name, body, NULL );
physicsObj.AddConstraint( c );
lexer.ReadToken( &jointName );
jointHandle_t joint = animator->GetJointHandle( jointName );
if ( joint == INVALID_JOINT ) {
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found", jointName.c_str() );
}
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
c->SetAnchor( renderOrigin + origin * renderAxis );
}
else if ( type.Icmp( "universal" ) == 0 ) {
idAFConstraint_UniversalJoint *c;
c = new idAFConstraint_UniversalJoint( name, body, NULL );
physicsObj.AddConstraint( c );
lexer.ReadToken( &jointName );
jointHandle_t joint = animator->GetJointHandle( jointName );
if ( joint == INVALID_JOINT ) {
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found", jointName.c_str() );
}
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
c->SetAnchor( renderOrigin + origin * renderAxis );
c->SetShafts( idVec3( 0, 0, 1 ), idVec3( 0, 0, -1 ) );
}
else {
gameLocal.Warning( "idAF::AddBindConstraints: unknown constraint type '%s' on entity '%s'", type.c_str(), self->name.c_str() );
}
lexer.FreeSource();
}
hasBindConstraints = true;
}
/*
================
idAF::RemoveBindConstraints
================
*/
void idAF::RemoveBindConstraints( void ) {
const idKeyValue *kv;
if ( !IsLoaded() ) {
return;
}
const idDict &args = self->spawnArgs;
idStr name;
kv = args.MatchPrefix( "bindConstraint ", NULL );
while ( kv ) {
name = kv->GetKey();
name.Strip( "bindConstraint " );
if ( physicsObj.GetConstraint( name ) ) {
physicsObj.DeleteConstraint( name );
}
kv = args.MatchPrefix( "bindConstraint ", kv );
}
hasBindConstraints = false;
}