369 lines
11 KiB
C++
369 lines
11 KiB
C++
/////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// Crytek Character Animation source code
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//
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// History:
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// Created by Sergiy Migdalskiy <sergiy@crytek.de>
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//
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// Content:
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// Single bone implementation
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/////////////////////////////////////////////////////////////////////////////////////////////////////
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#include "stdafx.h"
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#include <float.h>
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#include <StlUtils.h>
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#include "CryModel.h"
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#include "CryBoneInfo.h"
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#include "CryModelState.h"
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#include "ControllerManager.h"
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#include "ChunkFileReader.h"
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#include "STringUtils.h"
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#include "CVars.h"
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#ifdef _DEBUG
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#undef THIS_FILE
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static char THIS_FILE[] = __FILE__;
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#endif
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CryBone::CryBone():
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m_bUseMatPlus (false),
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m_bUseReadyRelativeToParentMatrix (false),
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m_pParent(NULL)
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{
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//m_MatPlus.Identity();
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m_matRelativeToParent.SetIdentity();; // current result of animation
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// zero orientation and rotation
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m_pqTransform.reset();
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}
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void CryBone::setParent (CryModelState*pParent)
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{
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m_pParent = pParent;
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}
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static inline bool isone (float x)
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{
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return x >= 0.98f && x < 1.02f;
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}
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//////////////////////////////////////////////////////////////////////////
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// builds the relative to parent matrix
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void CryBone::BuildRelToParentFromQP (const IController::PQLog& pqNew)
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{
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if (m_bUseMatPlus)
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pqNew.buildMatrixPlusRot (m_matRelativeToParent, m_qRotPlus);
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else
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pqNew.buildMatrix (m_matRelativeToParent);
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if (_isnan(m_matRelativeToParent[0][0]))
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g_GetLog()->LogWarning ("\001CryBone::BuildRelToParentFromQP: Invalid QP(q=%g,%g,%g;p=%g,%g,%g)", pqNew.vRotLog.x,pqNew.vRotLog.y,pqNew.vRotLog.z,pqNew.vPos.x,pqNew.vPos.y,pqNew.vPos.z);
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#ifdef _DEBUG
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if (g_GetCVars()->ca_Debug())
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{
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// we don't have translations that are millions of kilometers away
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assert (GetLengthSquared(m_matRelativeToParent.GetTranslationOLD()) < 1e22);
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// we should have the normal orthogonal and unitary matrix
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assert (isone(GetLengthSquared(m_matRelativeToParent.GetRow(0))));
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assert (isone(GetLengthSquared(m_matRelativeToParent.GetRow(1))));
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assert (isone(GetLengthSquared(m_matRelativeToParent.GetRow(2))));
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}
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#endif
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}
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// builds the m_pqTransform from the internal relative to parent matrix
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void CryBone::BuildQPFromRelToParent ()
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{
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m_pqTransform.assignFromMatrix(m_matRelativeToParent);
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}
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// adds an offset to the bone relative to parent matrix
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void CryBone::AddOffsetRelToParent (const Vec3d& vOffset)
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{
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m_matRelativeToParent.AddTranslationOLD(vOffset);
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}
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void CryBone::ScaleRelToParent (const Vec3d& vScale)
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{
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//m_matRelativeToParent *= fScale;
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Vec3d vPos = m_matRelativeToParent.GetRow(3);
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for (int i = 0; i < 3; ++i)
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{
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m_matRelativeToParent.SetRow(i, vScale[i]*m_matRelativeToParent.GetRow(i));
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vPos[i] = vScale[i]*vPos[i];
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}
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m_matRelativeToParent.SetRow(3,vPos);
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}
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Vec3d CryBone::GetBonePosition()
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{
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return *(Vec3d*) (getMatrixGlobal()[3]);
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}
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Vec3d CryBone::GetBoneAxis(char cAxis)
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{
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assert (cAxis == 'x' || cAxis == 'y' || cAxis == 'z');
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switch(cAxis)
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{
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case 'x':
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case 'y':
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case 'z':
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return Vec3d(getMatrixGlobal()[cAxis - 'x']);
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break;
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}
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return Vec3d(0,0,0);
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}
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// checks for possible memory corruptions in this object and its children
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void CryBone::SelfValidate ()const
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{
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#ifdef _DEBUG
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#endif
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}
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CryQuat quatAxis (int nAxis, float fDegrees)
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{
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struct {
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double cos;
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double sin;
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} x;
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cry_sincos( DEG2RAD(fDegrees)/2, &x.cos);
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CryQuat q;
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q.w = float(x.cos);
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switch (nAxis)
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{
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case 0: //x
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q.v.x = float(x.sin); q.v.y = q.v.z = 0;
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break;
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case 1: //y
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q.v.y = float(x.sin); q.v.x = q.v.z = 0;
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break;
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case 2: //z
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q.v.z = float(x.sin); q.v.x = q.v.y = 0;
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break;
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}
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return q;
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}
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//////////////////////////////////////////////////////////////////////////
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// sets the plus-matrix rotation components.
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// the plus-matrix is used to rotate the upper body in response
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// to small rotation of the head (in order to avoid to frequent
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// rotation of the whole body) and is set by the game code
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//
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void CryBone::SetPlusRotation(float dX, float dY, float dZ)
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{
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if (g_GetCVars()->ca_NoMatPlus() || (dX == 0 && dY == 0 && dZ == 0))
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{
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m_bUseMatPlus = false;
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return;
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}
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if (!isSane(dX) || !isSane(dY) || !isSane(dZ))
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{
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m_bUseMatPlus = false;
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g_GetLog()->LogError ("\003CryBone::SetPlusRotation: insane value passed as an angle(%g,%g,%g); ignoring.",dX, dY,dZ);
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return;
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}
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m_bUseMatPlus = true;
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m_qRotPlus =
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quatAxis (0, -dX) * quatAxis(1, -dY) * quatAxis(2, -dZ);
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if (g_GetCVars()->ca_MatPlusDebug())
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{
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if (fabs(dX) > 5 || fabs(dY) > 5 || fabs(dZ) > 5)
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g_GetLog()->LogToFile ("\005 MatPlus(%s, %s)(%.1f,%.1f,%.1f)", getBoneInfo()->getNameCStr(), m_bUseReadyRelativeToParentMatrix?"TM<-outside":"normal TM", dX,dY,dZ);
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}
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}
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//////////////////////////////////////////////////////////////////////////
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// sets the plus-matrix rotation components.
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// the plus-matrix is used to rotate the upper body in response
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// to small rotation of the head (in order to avoid to frequent
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// rotation of the whole body) and is set by the game code
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//
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void CryBone::SetPlusRotation(const CryQuat& qRot)
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{
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if (g_GetCVars()->ca_NoMatPlus() || (qRot.v.x == 0 && qRot.v.y == 0 && qRot.v.z == 0))
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{
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m_bUseMatPlus = false;
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return;
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}
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if (!isSane(qRot.v) || !isSane(qRot.w))
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{
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g_GetLog()->LogError ("\001CryBone::SetPlusRotation: insane quaternion{%g,%g,%g,%g}",qRot.w,qRot.v.x,qRot.v.y,qRot.v.z);
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return;
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}
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float fUnit = qRot|qRot;
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if (fUnit < 0.9f || fUnit > 1.1f)
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{
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m_bUseMatPlus = false;
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g_GetLog()->LogError ("\003CryBone::SetPlusRotation(CryQuat): non-normalized quaternion {%g,%g,%g,%g} passed; ignoring.",qRot.w,qRot.v.x,qRot.v.y,qRot.v.z);
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return;
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}
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m_bUseMatPlus = true;
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m_qRotPlus = qRot;
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}
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// returns the parent world coordinate system rotation as a quaternion
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CryQuat CryBone::GetParentWQuat ()
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{
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if (!getBoneInfo()->hasParent())
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return CryQuat (1,0,0,0);
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const Matrix44& matParent = getParent()->getMatrixGlobal();
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//M2Q_CHANGED_BY_IVO
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//CryQuat qResult = CovertMatToQuat<float>(matParent);
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CryQuat qResult = Quat(matParent);
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#ifdef _DEBUG
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if (g_GetCVars()->ca_DebugGetParentWQuat())
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{
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Matrix44 matTest;
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//Q2M_CHANGED_BY_IVO
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//qResult.GetMatrix(matTest);
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matTest=GetTransposed44(Matrix33(qResult));
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for (int i = 0; i < 3; i++)
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for (int j = 0; j < 3; ++j)
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assert (fabs(matTest(i,j) - matParent(i,j)) < 0.02f);
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}
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#endif
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return qResult;
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}
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//////////////////////////////////////////////////////////////////////////
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// resets the plus-matrix to identity, so that the body is not rotated
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// additionally to the currently played animation.
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void CryBone::ResetPlusRotation()
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{
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m_bUseMatPlus = false;
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//m_MatPlus.Identity();
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m_qRotPlus = CryQuat(1, 0,0,0);
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}
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Matrix44& CryBone::getMatrixGlobal ()
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{
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return m_pParent->getBoneMatrixGlobal (this);
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}
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const Matrix44& CryBone::getMatrixGlobal ()const
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{
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return m_pParent->getBoneMatrixGlobal (this);
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}
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CryBoneInfo* CryBone::getBoneInfo()
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{
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return m_pParent->getBoneInfo(this);
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}
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const CryBoneInfo* CryBone::getBoneInfo()const
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{
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return m_pParent->getBoneInfo(this);
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}
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// fixes the bone matrix to the given position in world coordinates,
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// assuming the character position and orientation are given by the vCharPos and vCharAngles
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// vCharAngles are the same as in the entity and in the Draw call to ICryCharInstance
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void CryBone::FixBoneOriginInWorld (const Vec3d& vCharPos, const Vec3d& vCharAngles, const Vec3d& vTargetOrigin)
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{
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using namespace CryStringUtils;
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m_bUseReadyRelativeToParentMatrix = false; // assume the safety checks won't pass
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if (!isSane(vCharPos) || !isSane(vCharAngles) || !isSane(vTargetOrigin))
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{
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g_GetLog()->LogError ("\001CryBone::FixBoneOriginInWorld: insane input vCharPos = %s, vCharAngles = %s, vTargetOrigin = %s", toString(vCharPos).c_str(), toString(vCharAngles).c_str(), toString(vTargetOrigin).c_str());
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return;
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}
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// make tran&rot matrix
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//Matrix44 matChar;
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//matChar.Identity();
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//matChar = GetTranslationMat(vCharPos)*matChar;
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//matChar = GetRotationZYX44(-gf_DEGTORAD*vCharAngles )*matChar; //NOTE: angles in radians and negated
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//OPTIMIZED_BY_IVO
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Matrix44 matChar=Matrix34::CreateRotationXYZ( Deg2Rad(vCharAngles),vCharPos );
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matChar = GetTransposed44(matChar); //TODO: remove this after E3 and use Matrix34 instead of Matrix44
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Matrix44 matParentBone;
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matParentBone.SetIdentity();
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for (CryBone* pParent = getParent(); pParent; pParent = pParent->getParent())
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matParentBone = matParentBone * pParent->m_matRelativeToParent;
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Matrix44 matInvParentBone = OrthoUniformGetInverted(matParentBone/*getParent()->getMatrixGlobal()*/*matChar);
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m_matRelativeToParent.SetTranslationOLD(matInvParentBone.TransformPointOLD(vTargetOrigin));
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m_bUseReadyRelativeToParentMatrix = true;
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}
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// Sets the bone matrix to the given position in world coordinates, only for this frame
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// assuming the character position and orientation are given by the vCharPos and vCharAngles
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// vCharAngles are the same as in the entity and in the Draw call to ICryCharInstance
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void CryBone::SetBoneOriginInWorld (const Vec3d& vCharPos, const Vec3d& vCharAngles, const Vec3d& vTargetOrigin)
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{
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using namespace CryStringUtils;
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if (!isSane(vCharPos) || !isSane(vCharAngles) || !isSane(vTargetOrigin))
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{
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g_GetLog()->LogError ("\001CryBone::SetBoneOriginInWorld: insane input vCharPos = %s, vCharAngles = %s, vTargetOrigin = %s", toString(vCharPos).c_str(), toString(vCharAngles).c_str(), toString(vTargetOrigin).c_str());
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return;
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}
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// make tran&rot matrix
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// Matrix44 matChar;
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// matChar.Identity();
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// matChar = GetTranslationMat(vCharPos)*matChar;
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// matChar = GetRotationZYX44(-gf_DEGTORAD*vCharAngles )*matChar; //NOTE: angles in radians and negated
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//OPTIMIZED_BY_IVO
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Matrix44 matChar=Matrix34::CreateRotationXYZ( Deg2Rad(vCharAngles),vCharPos );
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matChar = GetTransposed44(matChar); //TODO: remove this after E3 and use Matrix34 instead of Matrix44
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Matrix44 matInvChar = OrthoUniformGetInverted(matChar);
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getMatrixGlobal().SetTranslationOLD(matInvChar.TransformPointOLD(vTargetOrigin));
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}
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void CryBone::FixBoneMatrix (const Matrix44& mtxBone)
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{
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using namespace CryStringUtils;
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// suppose we won't accept this matrix
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m_bUseReadyRelativeToParentMatrix = false;
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if (!(mtxBone(0,3)==0 && mtxBone(1,3)==0 && mtxBone(2,3)==0 && mtxBone(3,3)==1))
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{
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g_GetLog()->LogError ("\001CryBone::FixBoneMatrix: invalid matrix last column {%g,%g,%g,%g}; expected{0,0,0,1}",mtxBone(0,3),mtxBone(1,3),mtxBone(2,3),mtxBone(3,3));
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return;
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}
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Vec3d vTrans = mtxBone.GetRow(3);
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if (!isSane(vTrans))
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{
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g_GetLog()->LogError ("\001CryBone::FixBoneMatrix: insane translation vector %s",toString(vTrans).c_str());
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return;
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}
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for (int i = 0; i < 3; ++i)
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{
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Vec3d v = mtxBone.GetRow(i);
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if (!isUnit(v,0.5f))
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{
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g_GetLog()->LogError ("\001CryBone::FixBoneMatrix: matrix is not orthonormal, row %d :%s", i, toString(v).c_str());
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return;
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}
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}
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m_matRelativeToParent = mtxBone;
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m_bUseReadyRelativeToParentMatrix = true;
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}
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