265 lines
9.5 KiB
C++
265 lines
9.5 KiB
C++
/**
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* @file lleditingmotion.cpp
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* @brief Implementation of LLEditingMotion class.
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*
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* $LicenseInfo:firstyear=2001&license=viewergpl$
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*
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* Copyright (c) 2001-2009, Linden Research, Inc.
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*
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* Second Life Viewer Source Code
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* The source code in this file ("Source Code") is provided by Linden Lab
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* to you under the terms of the GNU General Public License, version 2.0
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* ("GPL"), unless you have obtained a separate licensing agreement
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* ("Other License"), formally executed by you and Linden Lab. Terms of
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* the GPL can be found in doc/GPL-license.txt in this distribution, or
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* online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
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*
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* There are special exceptions to the terms and conditions of the GPL as
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* it is applied to this Source Code. View the full text of the exception
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* in the file doc/FLOSS-exception.txt in this software distribution, or
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* online at
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* http://secondlifegrid.net/programs/open_source/licensing/flossexception
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*
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* By copying, modifying or distributing this software, you acknowledge
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* that you have read and understood your obligations described above,
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* and agree to abide by those obligations.
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*
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* ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
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* WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
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* COMPLETENESS OR PERFORMANCE.
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* $/LicenseInfo$
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*/
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//-----------------------------------------------------------------------------
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// Header Files
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//-----------------------------------------------------------------------------
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#include "linden_common.h"
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#include "lleditingmotion.h"
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#include "llcharacter.h"
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#include "llhandmotion.h"
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#include "llcriticaldamp.h"
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//-----------------------------------------------------------------------------
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// Constants
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//-----------------------------------------------------------------------------
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const LLQuaternion EDIT_MOTION_WRIST_ROTATION(F_PI_BY_TWO * 0.7f, LLVector3(1.0f, 0.0f, 0.0f));
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const F32 TARGET_LAG_HALF_LIFE = 0.1f; // half-life of IK targeting
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const F32 TORSO_LAG_HALF_LIFE = 0.2f;
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const F32 MAX_TIME_DELTA = 2.f; //max two seconds a frame for calculating interpolation
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S32 LLEditingMotion::sHandPose = LLHandMotion::HAND_POSE_RELAXED_R;
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S32 LLEditingMotion::sHandPosePriority = 3;
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//-----------------------------------------------------------------------------
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// LLEditingMotion()
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// Class Constructor
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//-----------------------------------------------------------------------------
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LLEditingMotion::LLEditingMotion( const LLUUID &id) : LLMotion(id)
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{
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mCharacter = NULL;
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// create kinematic chain
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mParentJoint.addChild( &mShoulderJoint );
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mShoulderJoint.addChild( &mElbowJoint );
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mElbowJoint.addChild( &mWristJoint );
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mName = "editing";
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mParentState = new LLJointState;
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mShoulderState = new LLJointState;
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mElbowState = new LLJointState;
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mWristState = new LLJointState;
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mTorsoState = new LLJointState;
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}
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//-----------------------------------------------------------------------------
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// ~LLEditingMotion()
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// Class Destructor
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//-----------------------------------------------------------------------------
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LLEditingMotion::~LLEditingMotion()
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{
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}
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//-----------------------------------------------------------------------------
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// LLEditingMotion::onInitialize(LLCharacter *character)
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//-----------------------------------------------------------------------------
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LLMotion::LLMotionInitStatus LLEditingMotion::onInitialize(LLCharacter *character)
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{
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// save character for future use
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mCharacter = character;
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// make sure character skeleton is copacetic
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if (!mCharacter->getJoint("mShoulderLeft") ||
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!mCharacter->getJoint("mElbowLeft") ||
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!mCharacter->getJoint("mWristLeft"))
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{
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llwarns << "Invalid skeleton for editing motion!" << llendl;
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return STATUS_FAILURE;
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}
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// get the shoulder, elbow, wrist joints from the character
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mParentState->setJoint( mCharacter->getJoint("mShoulderLeft")->getParent() );
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mShoulderState->setJoint( mCharacter->getJoint("mShoulderLeft") );
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mElbowState->setJoint( mCharacter->getJoint("mElbowLeft") );
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mWristState->setJoint( mCharacter->getJoint("mWristLeft") );
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mTorsoState->setJoint( mCharacter->getJoint("mTorso"));
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if ( ! mParentState->getJoint() )
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{
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llinfos << getName() << ": Can't get parent joint." << llendl;
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return STATUS_FAILURE;
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}
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mWristOffset = LLVector3(0.0f, 0.2f, 0.0f);
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// add joint states to the pose
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mShoulderState->setUsage(LLJointState::ROT);
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mElbowState->setUsage(LLJointState::ROT);
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mTorsoState->setUsage(LLJointState::ROT);
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mWristState->setUsage(LLJointState::ROT);
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addJointState( mShoulderState );
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addJointState( mElbowState );
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addJointState( mTorsoState );
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addJointState( mWristState );
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// propagate joint positions to kinematic chain
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mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
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mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
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mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
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mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
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// propagate current joint rotations to kinematic chain
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mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
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mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
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mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
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// connect the ikSolver to the chain
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mIKSolver.setPoleVector( LLVector3( -1.0f, 1.0f, 0.0f ) );
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// specifying the elbow's axis will prevent bad IK for the more
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// singular configurations, but the axis is limb-specific -- Leviathan
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mIKSolver.setBAxis( LLVector3( -0.682683f, 0.0f, -0.730714f ) );
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mIKSolver.setupJoints( &mShoulderJoint, &mElbowJoint, &mWristJoint, &mTarget );
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return STATUS_SUCCESS;
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}
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//-----------------------------------------------------------------------------
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// LLEditingMotion::onActivate()
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//-----------------------------------------------------------------------------
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BOOL LLEditingMotion::onActivate()
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{
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// propagate joint positions to kinematic chain
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mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
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mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
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mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
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mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
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// propagate current joint rotations to kinematic chain
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mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
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mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
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mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
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return TRUE;
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}
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//-----------------------------------------------------------------------------
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// LLEditingMotion::onUpdate()
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//-----------------------------------------------------------------------------
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BOOL LLEditingMotion::onUpdate(F32 time, U8* joint_mask)
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{
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LLVector3 focus_pt;
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LLVector3* pointAtPt = (LLVector3*)mCharacter->getAnimationData("PointAtPoint");
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BOOL result = TRUE;
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if (!pointAtPt)
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{
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focus_pt = mLastSelectPt;
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result = FALSE;
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}
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else
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{
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focus_pt = *pointAtPt;
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mLastSelectPt = focus_pt;
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}
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focus_pt += mCharacter->getCharacterPosition();
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// propagate joint positions to kinematic chain
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mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
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mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
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mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
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mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
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// propagate current joint rotations to kinematic chain
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mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
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mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
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mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
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// update target position from character
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LLVector3 target = focus_pt - mParentJoint.getPosition();
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F32 target_dist = target.normVec();
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LLVector3 edit_plane_normal(1.f / F_SQRT2, 1.f / F_SQRT2, 0.f);
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edit_plane_normal.normVec();
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edit_plane_normal.rotVec(mTorsoState->getJoint()->getWorldRotation());
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F32 dot = edit_plane_normal * target;
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if (dot < 0.f)
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{
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target = target + (edit_plane_normal * (dot * 2.f));
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target.mV[VZ] += clamp_rescale(dot, 0.f, -1.f, 0.f, 5.f);
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target.normVec();
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}
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target = target * target_dist;
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if (!target.isFinite())
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{
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llerrs << "Non finite target in editing motion with target distance of " << target_dist <<
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" and focus point " << focus_pt << " and pointAtPt: " << *pointAtPt << llendl;
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}
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mTarget.setPosition( target + mParentJoint.getPosition());
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// llinfos << "Point At: " << mTarget.getPosition() << llendl;
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// update the ikSolver
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if (!mTarget.getPosition().isExactlyZero())
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{
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LLQuaternion shoulderRot = mShoulderJoint.getRotation();
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LLQuaternion elbowRot = mElbowJoint.getRotation();
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mIKSolver.solve();
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// use blending...
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F32 slerp_amt = LLCriticalDamp::getInterpolant(TARGET_LAG_HALF_LIFE);
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shoulderRot = slerp(slerp_amt, mShoulderJoint.getRotation(), shoulderRot);
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elbowRot = slerp(slerp_amt, mElbowJoint.getRotation(), elbowRot);
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// now put blended values back into joints
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llassert(shoulderRot.isFinite());
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llassert(elbowRot.isFinite());
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mShoulderState->setRotation(shoulderRot);
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mElbowState->setRotation(elbowRot);
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mWristState->setRotation(LLQuaternion::DEFAULT);
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}
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mCharacter->setAnimationData("Hand Pose", &sHandPose);
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mCharacter->setAnimationData("Hand Pose Priority", &sHandPosePriority);
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return result;
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}
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//-----------------------------------------------------------------------------
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// LLEditingMotion::onDeactivate()
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//-----------------------------------------------------------------------------
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void LLEditingMotion::onDeactivate()
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{
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}
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// End
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