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skeleton.cpp
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skeleton.cpp
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#include "T3D/skeleton.h"
#include "console/console.h"
#include "console/consoleTypes.h"
#include "core/stream/bitStream.h"
#include "ts/tsShapeInstance.h"
#include "math/mTransform.h"
#include "math/mathUtils.h"
IMPLEMENT_CO_DATABLOCK_V1(Bone);
IMPLEMENT_CO_DATABLOCK_V1(JiggleBone);
IMPLEMENT_CO_DATABLOCK_V1(IKChain);
IMPLEMENT_CO_DATABLOCK_V1(JiggleChain);
IMPLEMENT_CO_DATABLOCK_V1(IKRule);
//=================================================================
bool Bone::onAdd()
{
if(!Parent::onAdd())
return false;
ShapeBaseData *db = ((ShapeBaseData*)mTarget);
db->mSkeleton->addBone(this);
return true;
}
void Bone::initPersistFields(){
Parent::initPersistFields();
}
//=================================================================
bool JiggleBone::onAdd()
{
if(!Parent::onAdd())
return false;
mTarget->mSkeleton->addJiggleBone(this);
return true;
}
void JiggleBone::initPersistFields(){
Parent::initPersistFields();
}
void tempJBone::setFromBone(Bone *bone)
{
boneNode = bone->boneNode;
children = bone->children; //storing the nodeID is cleaner and more effecient
//than a full Bone ref, usefull for updating non-bone children(like hands at the end of an arm IK)
parent = bone->parent;
boneVec = bone->boneVec; //vectors to our child from this bone
length = bone->length; //length of our origin to our child
boneName = bone->boneName;
bounds = bone->bounds;
mTarget = bone->mTarget; //the object we're trying to set a Bone to
mDof[0] = bone->mDof[0]; //a min/max for each axis
mDof[1] = bone->mDof[1]; //a min/max for each axis
}
//=================================================================
bool IKChain::onAdd()
{
if(!Parent::onAdd())
return false;
ShapeBaseData* test = mTarget;
if(mTarget)
{
ShapeBaseData *db = ((ShapeBaseData*)mTarget);
db->mSkeleton->addIKChain(this);
}
return true;
}
void IKChain::initPersistFields()
{
Parent::initPersistFields();
addField("mTarget", TYPEID< ShapeBaseData >(), Offset(mTarget, IKChain));
addField("rootBoneName", TypeString, Offset(rootBoneName, IKChain));
addField("endBoneName", TypeString, Offset(endBoneName, IKChain));
addField("tolerance", TypeF32, Offset(tolerance, IKChain));
addField("dontReach", TypeBool, Offset(dontReach, IKChain));
}
//=================================================================
bool JiggleChain::onAdd()
{
if(!Parent::onAdd())
return false;
mTarget->mSkeleton->addJiggleChain(this);
return true;
}
void JiggleChain::initPersistFields(){
Parent::initPersistFields();
}
//=================================================================
// chain IK(arms)
// leg IK(linear to ground)
// look at
bool IKRule::onAdd()
{
if(!Parent::onAdd())
return false;
ShapeBaseData* test = mTarget;
if(mTarget)
{
ShapeBaseData *db = ((ShapeBaseData*)mTarget);
for(U32 i=0; i< db->mSkeleton->ikChains.size(); i++)
if(db->mSkeleton->ikChains[i] == targetChain)
{
db->mSkeleton->addIKRule(this);
}
}
return true;
}
void IKRule::initPersistFields()
{
Parent::initPersistFields();
addField("mTarget", TYPEID< ShapeBaseData >(), Offset(mTarget, IKRule));
addField("TargetChain", TYPEID< IKChain >(), Offset(targetChain, IKRule));
addField("animationName", TypeString, Offset(animationName, IKRule));
addField("goalNodeName", TypeString, Offset(goalNodeName, IKRule));
addField("blendAmount", TypeF32, Offset(blendAmount, IKRule));
addField("offset", TypeF32, Offset(offset, IKRule));
addField("triggerID", TypeS32, Offset(triggerID, IKRule));
addField("matchOrientToGoal", TypeBool, Offset(matchOrientToGoal, IKRule));
}
//=================================================================
Skeleton::Skeleton()
{
}
Skeleton::~Skeleton()
{
}
void Skeleton::CCDIK(TSShapeInstance* shapeInstance, IKChain *ikchain, MatrixF endTrans)
{
Point3F rootPos, curEnd, desiredEnd, endPos = endTrans.getPosition();
VectorF targetVector, curVector, crossResult;
double cosAngle,turnAngle, distCheck;
S32 tries, link;
// start at the last link in the chain
link = ikchain->chain.size();
link -= 1;
tries = 0;
F32 len = 0; F32 dist = 0;
for(S32 i=0; i < ikchain->chain.size(); i++) {
len += ikchain->chain[i]->length; //we can presume(for now) that we're only gunna have linear bone chains
//only use bones we need to?
if(len >= dist){
link = i;
continue;
}
}
Vector<VectorF> pastCurVectors;
Vector<VectorF> pastTargetVectors;
do
{
MatrixF boneTrans = *getBoneTrans(shapeInstance, ikchain->chain[link]);
rootPos = boneTrans.getPosition();
//MatrixF rootLocal = shapeInstance->smNodeLocalTransforms[ikchain->chain[link]->boneNode];
//==================================================================
//End bone position
curEnd = getBoneEndPoint(shapeInstance, ikchain->chain[ikchain->chain.size()-1]);
//End bone position
//==================================================================
desiredEnd = endPos;
VectorF endVec = desiredEnd - curEnd;
double distance = endVec.len();
// see if i'm already close enough
if (distance > ikchain->tolerance)
{
// create the vector to the current effector pos
curVector = curEnd - rootPos;
// create the desired effector position vector
targetVector = endPos - rootPos;
curVector.normalize();
targetVector.normalize();
cosAngle = mDot(curVector, targetVector);
F32 ang = mRadToDeg(cosAngle);
if (cosAngle < 0.9999999)
{
/*if(cosAngle < -0.9999999)
{
//the 2 vectors are collinear
// check if we can use cross product of source vector and [1, 0, 0]
crossResult.set(0, curVector.x, -curVector.y);
if( crossResult.magnitudeSafe() < 1.0e-10 )
{
// nope! we need cross product of source vector and [0, 1, 0]
crossResult.set( -curVector.z, 0, curVector.x ) ;
}
}
else
{
// use the cross product to check which way to rotate
crossResult = mCross(curVector, targetVector);
}
crossResult.normalize();
turnAngle = mAcos(cosAngle); // get the angle
if(turnAngle > M_PI / 12) //max angle change
{
turnAngle = M_PI / 12;
}*/
QuatF rot, tester = QuatF(boneTrans);
rot.shortestArc(curVector, targetVector);
MatrixF oldBoneTrans = boneTrans;
TSTransform::setMatrix(rot, boneTrans.getPosition(), &boneTrans);
//check dof's
MatrixF newBoneTrans = CheckDofsRestrictions(ikchain->chain[link], boneTrans);
//storeBoneTrans(shapeInstance, ikchain->chain[link]->boneNode, newBoneTrans);
shapeInstance->mNodeTransforms[ikchain->chain[link]->boneNode] = newBoneTrans;
updateChildren(shapeInstance, ikchain->chain[link], ikchain);
}
if (--link < 0)
link = ikchain->chain.size()-1; // START OF THE CHAIN, RESTART
}
// quit if i am close enough or been running long enough
} while (++tries < 60 &&
//curEnd.SquaredDistance(desiredEnd) > ikchain->tolerance);
VectorF(desiredEnd - getBoneEndPoint(shapeInstance, ikchain->chain[ikchain->chain.size()-1])).len() > ikchain->tolerance);
}
void Skeleton::physicalIK(TSShapeInstance* shapeInstance, IKChain *ikchain, MatrixF endTrans, F32 dt)
{
//make a temp copy of the ikchain as a jiggle chian
Vector<tempJBone*> physicalBones;
Vector<mass*> masses;
mass *m;
for(U32 i=0; i<ikchain->chain.size(); i++)
{
tempJBone* jb = new tempJBone();
jb->setFromBone(ikchain->chain[i]);
//we don't need gravity simulation on the physical IK
jb->specificGravity = 0.f;
physicalBones.push_front(jb);
m = new mass();
m->boneNum = physicalBones[i]->boneNode;
masses.push_front(m);
}
//now that we have an impromptu jChain, simulate the end bone towards our goal point
S32 count = physicalBones.size()-1;
S32 tries = 0;
VectorF dir;
do{
storeBoneTrans(shapeInstance, ikchain->chain[count]->boneNode, endTrans);
//solve the 'springs' first
for(U32 x=0; x<count; x++) {
//solveJiggleBone(shapeInstance, physicalBones[x], masses[x]);
Point3F rootPos = getBoneTrans(shapeInstance, findBone(physicalBones[x]->parent))->getPosition();
Point3F endPos = getBoneTrans(shapeInstance,physicalBones[x])->getPosition();
VectorF springVector = rootPos - endPos; //vector between the two masses
VectorF force = VectorF(0,0,0); //force initially has a zero value
//solve the 'spring' between the two bones
F32 vecLen = springVector.len(); //distance between the two masses
if (vecLen != 0) //to avoid a division by zero check if r is zero
force += (springVector / vecLen) * (vecLen - physicalBones[x]->length);// * (-physicalBones[x]->stiffness); //the spring force is added to the force
VectorF vel = physicalBones[x]->velocity * physicalBones[x]->moveFriction; //The air friction
if(x<count-1)
force += -(vel - physicalBones[x+1]->velocity) * physicalBones[x]->moveFriction.z; //the friction force is added to the force
else
force += -(vel) * physicalBones[x]->moveFriction.z; //with this addition we obtain the net force of the spring
VectorF b = (VectorF(0,0,-9.81f) * physicalBones[x]->specificGravity) * physicalBones[x]->mass;
force += b;//(VectorF(0,0,-9.81f) * jB->specificGravity) * jB->mass; //The gravitational force
masses[x]->force += force; //net forces
}
//then simulate/update the bones
for(U32 y=0; y<count; y++){
updateJiggleBone(shapeInstance, physicalBones[y], masses[y], dt);
updateChildren(shapeInstance, physicalBones[y], ikchain);
}
MatrixF boneTrans = *getBoneTrans(shapeInstance, ikchain->chain[count]);
dir = endTrans.getPosition() - boneTrans.getPosition();
}
while(++tries < 3 && dir.len() > ikchain->tolerance);
}
void Skeleton::analiticalIK(TSShapeInstance* shapeInstance, IKChain *ikchain, MatrixF endTrans)
{
/// Local Variables ///////////////////////////////////////////////////////////
/*float l1,l2; // BONE LENGTH FOR BONE 1 AND 2
float ex,ey; // ADJUSTED TARGET POSITION
float sin2,cos2; // SINE AND COSINE OF ANGLE 2
float angle1,angle2;// ANGLE 1 AND 2 IN RADIANS
float tan1; // TAN OF ANGLE 1
///////////////////////////////////////////////////////////////////////////////
// SUBTRACT THE INITIAL OFFSET FROM THE TARGET POS
ex = endPos.x - (m_UpArm.trans.x * m_ModelScale);
ey = endPos.y - (m_UpArm.trans.y * m_ModelScale);
// MULTIPLY THE BONE LENGTHS BY THE WINDOW SCALE
l1 = m_LowArm.trans.x * m_ModelScale;
l2 = m_Effector.trans.x * m_ModelScale;
// CALCULATE THE COSINE OF ANGLE 2
cos2 = ((ex * ex) + (ey * ey) - (l1 * l1) - (l2 * l2)) / (2 * l1 * l2);
// IF IT IS NOT IN THIS RANGE, IT IS UNREACHABLE
if (cos2 >= -1.0 && cos2 <= 1.0)
{
angle2 = (float)acos(cos2); // GET THE ANGLE WITH AN ARCCOSINE
m_LowArm.rot.z = RADTODEG(angle2); // CONVERT IT TO DEGREES
sin2 = (float)sin(angle2); // CALC THE SINE OF ANGLE 2
// COMPUTE ANGLE 1
// HERE IS WHERE THE BUG WAS SEE THE README.TXT FOR MORE INFO
// CALCULATE THE TAN OF ANGLE 1
tan1 = (-(l2 * sin2 * ex) + ((l1 + (l2 * cos2)) * ey)) /
((l2 * sin2 * ey) + ((l1 + (l2 * cos2)) * ex));
// GET THE ACTUAL ANGLE
angle1 = atan(tan1);
m_UpArm.rot.z = RADTODEG(angle1); // CONVERT IT TO DEGREES
return TRUE;
}
else
return FALSE;*/
}
MatrixF Skeleton::CheckDofsRestrictions(Bone *bone, MatrixF mat)
{
EulerF angles = mat.toEuler();
bool modified = false;
F32 xMin = mDegToRad(bone->mDof[0].x);
F32 xMax = mDegToRad(bone->mDof[1].x);
if(angles.x < xMin)
{
angles.x = xMin;
modified = true;
}
else
if(angles.x > xMax)
{
angles.x = xMax;
modified = true;
}
F32 yMin = mDegToRad(bone->mDof[0].y);
F32 yMax = mDegToRad(bone->mDof[1].y);
if(angles.y < yMin)
{
angles.y = yMin;
modified = true;
}
else
if(angles.y > yMax)
{
angles.y = yMax;
modified = true;
}
F32 zMin = mDegToRad(bone->mDof[0].z);
F32 zMax = mDegToRad(bone->mDof[1].z);
if(angles.z < zMin)
{
angles.z = zMin;
modified = true;
}
else
if(angles.z > zMax)
{
angles.z = zMax;
modified = true;
}
if(modified)
{
QuatF q = QuatF(angles);
MatrixF moddedXfm;
TSTransform::setMatrix(q, mat.getPosition(), &moddedXfm);
return moddedXfm;
}
return mat;
}
//helper function to the main IK, takes a direction and the given bone, and we compile out a transform for the destired rotation
MatrixF Skeleton::directionToMatrix(VectorF dir, VectorF up)
{
MatrixF matr;
AngAxisF aAng;
VectorF MatX = mCross(dir, up); // the x-column of our 3x3 matrix. perpendicular to both %vDirection and %vUp.
matr.setColumn(0, MatX);
matr.setColumn(1, dir); // the y-column of our 3x3 matrix. we're just saying "be what i want".
matr.setColumn(2, mCross(MatX, dir)); // the z-column of our 3x3 matrix. perpendicular to X and Y.
matr.setPosition(Point3F(0,0,0));
F32 * mat = matr;
F32 theta = mAcos((mat[0,0] + mat[1,1] + mat[2,2] - 1) / 2);
F32 eps = 0.0001;
if(mAbs(theta) < eps){
// singularity at zero
//return "0 0 0 0 0 1 0";
}
else if ( mAbs(3.14159265359 - theta) < eps)
{
// ditto at 180, but i leave it to you to grok the whole largest-diagonal thing at that site.
//return "0 0 0 0 0 1 0";
}
F32 denom = mSqrt((mat[2,1] - mat[1,2]) * (mat[2,1] - mat[1,2]) +
(mat[0,2] - mat[2,0]) * (mat[0,2] - mat[2,0]) +
(mat[1,0] - mat[0,1]) * (mat[1,0] - mat[0,1]));
aAng.axis.x = (mat[2,1] - mat[1,2]) / denom;
aAng.axis.y = (mat[0,2] - mat[2,0]) / denom;
aAng.axis.z = (mat[1,0] - mat[0,1]) / denom;
aAng.angle = theta;
TransformF mats(Point3F(0,0,0), aAng);
return mats.getMatrix();
}
void Skeleton::updateChildren(TSShapeInstance* shapeInstance, Bone *current, IKChain *chain)
{
F32 boneCount = chain->chain.size() - 1;
//first update our root
MatrixF parentTrans, curTrans, newTrans;
for(U32 i = 1; i < boneCount - 1; i++)
{
if(i==0)
parentTrans = shapeInstance->mNodeTransforms[current->boneNode];
else
parentTrans = getLocalBoneTrans(shapeInstance, chain->chain[i-1]);
curTrans = getLocalBoneTrans(shapeInstance, chain->chain[i]); //our current
newTrans.mul(parentTrans, curTrans);
storeBoneTrans(shapeInstance, chain->chain[i]->boneNode, newTrans);
}
}
MatrixF Skeleton::setForwardVector(MatrixF *mat, VectorF axisY, VectorF up)
{
VectorF axisX;
VectorF axisZ;
// Validate and normalize input:
F32 lenSq;
lenSq = axisY.lenSquared();
if (lenSq < 0.000001f)
{
axisY.set(0.0f, 1.0f, 0.0f);
Con::errorf("SceneObject::setForwardVector() - degenerate forward vector");
}
else
{
axisY /= mSqrt(lenSq);
}
lenSq = up.lenSquared();
if (lenSq < 0.000001f)
{
up.set(0.0f, 0.0f, 1.0f);
Con::errorf("SceneObject::setForwardVector() - degenerate up vector - too small");
}
else
{
up /= mSqrt(lenSq);
}
if (fabsf(mDot(up, axisY)) > 0.9999f)
{
Con::errorf("SceneObject::setForwardVector() - degenerate up vector - same as forward");
// i haven't really tested this, but i think it generates something which should be not parallel to the previous vector:
F32 tmp = up.x;
up.x = -up.y;
up.y = up.z;
up.z = tmp;
}
// construct the remaining axes:
mCross(axisY, up , &axisX);
mCross(axisX, axisY, &axisZ);
mat->setColumn(0, axisX);
mat->setColumn(1, axisY);
mat->setColumn(2, axisZ);
return *mat;
}
void Skeleton::updateChildren(TSShapeInstance* shapeInstance, Bone *parent)
{
for(S32 i=0; i<parent->children.size(); i++)
{
Bone *child = NULL;
if(isBone(parent->children[i], child))
{
MatrixF childTrans = *getBoneTrans(shapeInstance, child);
childTrans.mul(*getBoneTrans(shapeInstance, parent));
storeBoneTrans(shapeInstance, child->boneNode, childTrans);
if(meshShape.nodes[child->boneNode].firstChild != -1)
updateChildren(shapeInstance, child);
}
}
}
/*void Skeleton::updateChildren(TSShapeInstance* shapeInstance, Bone *parent)
{
//parse through any children we may have in our skeleton system
for(S32 i=0; i<parent->children.size(); i++)
{
Bone *child = NULL;
MatrixF newOrient;
//confirm it's actually a bone
if(isBone(parent->children[i], child))
{
MatrixF *childMat = getBoneTrans(shapeInstance, child);
MatrixF *parentMat = getBoneTrans(shapeInstance, parent);
VectorF curForVec, newVec, parOrient, testOrient, childOrient;
Point3F endPos = getBoneEndPoint(shapeInstance, parent);
curForVec = getBoneForwardVector(shapeInstance, parent);
//since these never change, use them as a reference
VectorF homeBoneVec = meshShape.defaultTranslations[child->boneNode] -
meshShape.defaultTranslations[parent->boneNode];
//take the difference of the default vector and the current vector, and the parent's end position
//newOrient = MatrixF(homeBoneVec+curForVec, parentMat->getPosition()/*+endPos*/ /*+ meshShape.defaultTranslations[child->boneNode]);
newOrient = MatrixF(homeBoneVec+curForVec, endPos);
//store the update, which is applied at the owner's discretion
//setBoneTrans(child, newOrient);
storeBoneTrans(child->boneNode, newOrient);
if(meshShape.nodes[child->boneNode].firstChild != -1)
updateChildren(shapeInstance, child);
}
//it's not? well update it so we don't have wayward nodes
//else
// if(meshShape.nodes[parent->boneNode].firstChild != -1)
// updateChildren(shapeInstance, parent->boneNode);
}
//check if we have normal nodes as children
//if(meshShape.nodes[parent->boneNode].firstChild != -1)
//if we do, then update them
// updateChildren(shapeInstance, parent->boneNode);
}*/
//used for updating non-skeleton bone based bone nodes in the mesh(child bones)
void Skeleton::updateChildren(TSShapeInstance* shapeInstance, S32 parent)
{
S32 childIdx = meshShape.nodes[parent].firstChild;
//get our first child, then step through the siblings
MatrixF newOrient;
VectorF curForVec, newVec, parOrient, testOrient, childOrient, forVec;
shapeInstance->mNodeTransforms[childIdx].getColumn(0,&forVec);
forVec.normalize();
Point3F first = meshShape.defaultTranslations[childIdx];
Point3F second = meshShape.defaultTranslations[parent];
VectorF vec = second - first;
Point3F endPoint = forVec * vec.len();
//since these never change, use them as a reference
VectorF homeBoneVec = meshShape.defaultTranslations[childIdx] -
meshShape.defaultTranslations[parent];
newOrient = MatrixF(homeBoneVec+forVec, endPoint);
//store to apply later
// meshInstance->mNodeTransforms[childIdx] = newOrient;
storeBoneTrans(shapeInstance, childIdx, newOrient);
if(meshShape.nodes[childIdx].firstChild != -1)
updateChildren(shapeInstance, childIdx);
//now walk through the siblings, if we have any
while (meshShape.nodes[childIdx].nextSibling>=0)
{
S32 sib = meshShape.nodes[childIdx].nextSibling;
VectorF curForVec, newVec, parOrient, testOrient, childOrient;
shapeInstance->mNodeTransforms[sib].getColumn(0,&forVec);
forVec.normalize();
Point3F first = meshShape.defaultTranslations[sib];
Point3F second = meshShape.defaultTranslations[parent];
VectorF vec = second - first;
Point3F endPoint = forVec * vec.len();
//since these never change, use them as a reference
VectorF homeBoneVec = meshShape.defaultTranslations[sib] - meshShape.defaultTranslations[parent];
newOrient = MatrixF(homeBoneVec+forVec, endPoint);
//store to apply later
// meshInstance->mNodeTransforms[sib] = newOrient;
storeBoneTrans(shapeInstance, sib, newOrient);
if(meshShape.nodes[sib].firstChild != -1)
updateChildren(shapeInstance, sib);
}
}
void Skeleton::updateChildren(TSShapeInstance* shapeInstance, Bone *parent, MatrixF newTrans)
{
for(S32 i=0; i<parent->children.size(); i++)
{
Bone *child = NULL;
isBone(parent->children[i], child);
MatrixF *childMat = getBoneTrans(shapeInstance, child);
MatrixF *parentMat = getBoneTrans(shapeInstance, parent);
getBoneTrans(shapeInstance, child)->mul(newTrans);
updateChildren(shapeInstance, child);
}
}
void Skeleton::solveJiggleBone(TSShapeInstance* shapeInstance, JiggleBone* jB, mass* m) //solve() method: the method where forces can be applied
{
Point3F rootPos = getBoneTrans(shapeInstance, findBone(jB->parent))->getPosition();
Point3F endPos = getBoneTrans(shapeInstance,jB)->getPosition();
VectorF springVector = rootPos - endPos; //vector between the two masses
VectorF force = VectorF(0,0,0); //force initially has a zero value
JiggleBone* jBParent = NULL;
//solve the 'spring' between the two bones
F32 vecLen = springVector.len(); //distance between the two masses
if (vecLen != 0){ //to avoid a division by zero check if r is zero
VectorF a = (springVector / vecLen) * (vecLen - jB->length) * (-jB->stiffness);
force += a;//(springVector / vecLen) * (vecLen - jB->length) * (-jB->stiffness); //the spring force is added to the force
}
//solve the rest of the forces
//repurpose for collision code
/*if (masses[a]->pos.y < groundHeight) //Forces from the ground are applied if a mass collides with the ground
{
Vector3D v; //A temporary Vector3D
v = masses[a]->vel; //get the velocity
v.y = 0; //omit the velocity component in y direction
//The velocity in y direction is omited because we will apply a friction force to create
//a sliding effect. Sliding is parallel to the ground. Velocity in y direction will be used
//in the absorption effect.
masses[a]->applyForce(-v * groundFrictionConstant); //ground friction force is applied
v = masses[a]->vel; //get the velocity
v.x = 0; //omit the x and z components of the velocity
v.z = 0; //we will use v in the absorption effect
//above, we obtained a velocity which is vertical to the ground and it will be used in
//the absorption force
if (v.y < 0) //let's absorb energy only when a mass collides towards the ground
masses[a]->applyForce(-v * groundAbsorptionConstant); //the absorption force is applied
//The ground shall repel a mass like a spring.
//By "Vector3D(0, groundRepulsionConstant, 0)" we create a vector in the plane normal direction
//with a magnitude of groundRepulsionConstant.
//By (groundHeight - masses[a]->pos.y) we repel a mass as much as it crashes into the ground.
Vector3D force = Vector3D(0, groundRepulsionConstant, 0) *
(groundHeight - masses[a]->pos.y);
jB->applyForce(force); //The ground repulsion force is applied
}*/
VectorF vel = jB->velocity * jB->moveFriction; //The air friction
if(isJiggleBone(jB->parent, jBParent))
force += -(vel - jBParent->velocity) * jB->moveFriction.z; //the friction force is added to the force
else
force += -(vel) * jB->moveFriction.z; //with this addition we obtain the net force of the spring
VectorF b = (VectorF(0,0,-9.81f) * jB->specificGravity) * jB->mass;
force += b;//(VectorF(0,0,-9.81f) * jB->specificGravity) * jB->mass; //The gravitational force
m->force += force; //net forces
}
//simulate the bone here
void Skeleton::updateJiggleBone(TSShapeInstance* shapeInstance, JiggleBone* jB, mass* m, F32 dt) //solve() method: the method where forces can be applied
{
m->velocity += (m->force / jB->mass) * dt; // Change in velocity is added to the velocity.
// The change is proportinal with the acceleration (force / m) and change in time
MatrixF finMat, mat = *getBoneTrans(shapeInstance, jB);
Point3F pos = mat.getPosition();
pos += m->velocity * dt; // Change in position is added to the position.
// Change in position is velocity times the change in time
TSTransform::setMatrix(mat, pos, &finMat);
//mat.setPosition(pos);
MatrixF newBoneTrans = CheckDofsRestrictions(jB, finMat);
storeBoneTrans(shapeInstance, jB->boneNode, newBoneTrans);
}
void Skeleton::accumulateVelocity(TSShapeInstance* shapeInstance)
{
//what we do here is compare our last know bone and object positions, and then see the difference,
//accumulating a velocity out of the distance/rotation that we use to solve the jigglebone animation
MatrixF nodeTransform, difference;
//MatrixF globalDifference = shapeInstance->getTransform() - objectTransform;
for(U32 i=0; i < oldNodeTransforms.size(); i++)
{
//obviously we have some transforms
//so get our current transforms for any jigglebone's parents
for(U32 x=0; x < jBoneList.size(); x++)
{
//looks like we have a hit
if(oldNodeTransforms[i].bone == jBoneList[x]->parent)
{
nodeTransform = shapeInstance->mNodeTransforms[jBoneList[x]->parent];
//difference = nodeTransform - oldNodeTransforms[i];
//blahblahmathblah
}
}
}
//now flush our current transforms and store them for the next update
}
void Skeleton::addBone(Bone* bone)
{
bool nameMatch = false, boneMatch = false;
//check our bone name list
for(U32 x=0; x < boneNames.size(); x++)
{
//we have a hit!
if(!dStrcmp(boneNames[x].c_str(), bone->boneName))
nameMatch = true;
}
//no name here
if(!nameMatch)
boneNames.push_front(bone->getName());
//check our physical bones list
for(U32 i=0; i< boneList.size(); i++)
{
//yup, it's here
if(boneList[i]->boneNode == bone->boneNode)
boneMatch = true;
}
//otherwise, we can add it to our list no problem.
if(!boneMatch)
boneList.push_front(bone);
}
void Skeleton::addJiggleBone(JiggleBone* jBone)
{
//jigglebones are distinct from regular bones, so we can have a jigglebone with the same
//bonenode as a regular bone, but cannot have 2 jigglebones on the same node.
for(U32 i=0; i< jBoneList.size(); i++)
{
//if it already exists, abort adding it.
if(jBoneList[i]->boneNode == jBone->boneNode)
return;
}
//otherwise, we can add it to our list no problem.
jBoneNames.push_front(jBone->getName());
jBoneList.push_front(jBone);
}
void Skeleton::addIKChain(IKChain* ikchain)
{
bool nameMatch = false, chainMatch = false;
//first, double check we're not trying to re-add this thing
for(U32 x=0; x<ikChainNames.size(); x++)
if(!dStrcmp(ikChainNames[x].c_str(), ikchain->getName()))
nameMatch = true;
for(U32 q=0; q<ikChains.size(); q++)
if(!dStrcmp(ikChains[q]->rootBoneName, ikchain->rootBoneName) &&
!dStrcmp(ikChains[q]->endBoneName, ikchain->endBoneName))
chainMatch = true;
if(!chainMatch)
{
S32 rootIdx = /*bodyData->shape->*/meshShape.findNode(ikchain->rootBoneName);
S32 endIdx = /*bodyData->shape->*/meshShape.findNode(ikchain->endBoneName);
S32 currIdx = endIdx;
S32 priorIdx = 0;
VectorF boneVector;
S32 test = -1;
Bone *bone = new Bone();
if(rootIdx == -1 || endIdx == -1){
Con::errorf("IKChain::addIKChain - unable to find either the root or end nodes!");
return;
}
do
{
if(currIdx == -1)
break;
//first, check that we don't already have a bone at each step. If we do, just tweak the bone
//data to hook in. otherwise, create a new bone and string it together
bool aBone = isBone(currIdx, bone);
if(!aBone)
{
bone->boneNode = currIdx;
if(currIdx != endIdx){
bone->length = getBoneLength(currIdx, priorIdx);
bone->children.push_back(priorIdx);
}
else
bone->length = getBoneLength(currIdx, meshShape.nodes[currIdx].firstChild);
getBoneDefaultTrans(bone)->getColumn(1, &boneVector);
bone->boneVec = boneVector;
bone->parent = meshShape.nodes[currIdx].parentIndex;
String parentName = meshShape.getName(meshShape.nodes[currIdx].parentIndex);
bone->boneName = meshShape.getName(meshShape.nodes[currIdx].nameIndex);
bone->bounds = Box3F();
bone->mTarget = ikchain->mTarget; //the object we're trying to set a Bone to
//as we've created an entirely new bone, we need to add it to our skeleton's global bone list
String temp = bone->getName();
if(temp.isEmpty())
bone->assignName(bone->boneName);
//register this hooooo
bone->registerObject();
addBone(bone);
}
else
bone = findBone(currIdx);
priorIdx = currIdx;
currIdx = bone->parent;
//if we can't find the node, bail this one, otherwise, add it in
if(bone->boneNode != -1)
{
//add to the chain
ikchain->addBone(bone);
}
//clear it out for the next iteration
bone = new Bone();
U32 rootNodeParentVal = meshShape.nodes[rootIdx].parentIndex;
U32 currentNodeVal = meshShape.nodes[currIdx].parentIndex;
U32 savethescope = -1;
}while(currIdx != meshShape.nodes[rootIdx].parentIndex); //if we've reached the parent of our chain, or somehow hit the end of the skeleton, end.
//now add our completed chain to the skeleton
ikChains.push_back(ikchain);
}
if(!nameMatch)
ikChainNames.push_back(ikchain->getName());
}
void Skeleton::addIKRule(IKRule* ikrule)
{
bool nameMatch = false, ruleMatch = false;
//check our bone name list
for(U32 x=0; x < ikRuleNames.size(); x++)
{
//we have a hit!
if(!dStrcmp(ikRuleNames[x].c_str(), ikrule->getName()))
nameMatch = true;
}
//no name here
if(!nameMatch)
ikRuleNames.push_front(ikrule->getName());
//check our physical bones list
for(U32 i=0; i< ikRules.size(); i++)
{
//yup, it's here
if(ikRules[i] == ikrule)
ruleMatch = true;
}
//otherwise, we can add it to our list no problem.
if(!ruleMatch)
ikRules.push_back(ikrule);
}
void Skeleton::addJiggleChain(JiggleChain* jchain)
{
S32 rootIdx = /*bodyData->shape->*/meshShape.findNode(jchain->rootBoneName);
S32 endIdx = /*bodyData->shape->*/meshShape.findNode(jchain->endBoneName);
S32 currIdx = endIdx;
S32 priorIdx = 0;
VectorF boneVector;
do
{
//first, add our end node, then step backwards up the heirarchy and add those
JiggleBone *newBone = new JiggleBone();
newBone->boneNode = currIdx;
getBoneDefaultTrans(newBone)->getColumn(1, &boneVector); //get the forward vector of the bone instead
newBone->boneVec = boneVector;
newBone->parent = /*bodyData->shape->*/meshShape.nodes[currIdx].parentIndex;
newBone->length = boneVector.len();
newBone->boneName = /*bodyData->shape->*/meshShape.getName(/*bodyData->shape->*/meshShape.nodes[currIdx].nameIndex);
newBone->bounds = Box3F();