601 lines
15 KiB
C++
601 lines
15 KiB
C++
/**
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* @file lljoint.cpp
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* @brief Implementation of LLJoint class.
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*
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* $LicenseInfo:firstyear=2001&license=viewerlgpl$
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* Second Life Viewer Source Code
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* Copyright (C) 2010, Linden Research, Inc.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation;
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* version 2.1 of the License only.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
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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 "lljoint.h"
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#include "llmath.h"
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S32 LLJoint::sNumUpdates = 0;
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S32 LLJoint::sNumTouches = 0;
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//-----------------------------------------------------------------------------
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// LLJoint()
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// Class Constructor
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//-----------------------------------------------------------------------------
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void LLJoint::init()
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{
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mName = "unnamed";
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mParent = NULL;
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mXform.setScaleChildOffset(TRUE);
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mXform.setScale(LLVector3(1.0f, 1.0f, 1.0f));
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mDirtyFlags = MATRIX_DIRTY | ROTATION_DIRTY | POSITION_DIRTY;
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mUpdateXform = TRUE;
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}
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LLJoint::LLJoint() :
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mJointNum(-1)
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{
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init();
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touch();
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mResetAfterRestoreOldXform = false;
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}
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LLJoint::LLJoint(S32 joint_num) :
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mJointNum(joint_num)
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{
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init();
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touch();
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mResetAfterRestoreOldXform = false;
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}
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//-----------------------------------------------------------------------------
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// LLJoint()
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// Class Constructor
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//-----------------------------------------------------------------------------
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LLJoint::LLJoint(const std::string &name, LLJoint *parent) :
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mJointNum(0)
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{
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init();
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mUpdateXform = FALSE;
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// *TODO: mResetAfterRestoreOldXform is not initialized!!!
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setName(name);
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if (parent)
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{
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parent->addChild( this );
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}
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touch();
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}
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//-----------------------------------------------------------------------------
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// ~LLJoint()
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// Class Destructor
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//-----------------------------------------------------------------------------
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LLJoint::~LLJoint()
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{
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if (mParent)
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{
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mParent->removeChild( this );
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}
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removeAllChildren();
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}
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//-----------------------------------------------------------------------------
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// setup()
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//-----------------------------------------------------------------------------
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void LLJoint::setup(const std::string &name, LLJoint *parent)
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{
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setName(name);
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if (parent)
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{
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parent->addChild( this );
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}
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}
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//-----------------------------------------------------------------------------
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// touch()
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// Sets all dirty flags for all children, recursively.
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//-----------------------------------------------------------------------------
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void LLJoint::touch(U32 flags)
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{
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if ((flags | mDirtyFlags) != mDirtyFlags)
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{
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sNumTouches++;
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mDirtyFlags |= flags;
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U32 child_flags = flags;
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if (flags & ROTATION_DIRTY)
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{
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child_flags |= POSITION_DIRTY;
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}
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for (child_list_t::iterator iter = mChildren.begin();
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iter != mChildren.end(); ++iter)
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{
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LLJoint* joint = *iter;
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joint->touch(child_flags);
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}
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}
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}
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//-----------------------------------------------------------------------------
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// getRoot()
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//-----------------------------------------------------------------------------
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LLJoint *LLJoint::getRoot()
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{
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if ( getParent() == NULL )
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{
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return this;
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}
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return getParent()->getRoot();
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}
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//-----------------------------------------------------------------------------
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// findJoint()
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//-----------------------------------------------------------------------------
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LLJoint *LLJoint::findJoint( const std::string &name )
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{
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if (name == getName())
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return this;
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for (child_list_t::iterator iter = mChildren.begin();
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iter != mChildren.end(); ++iter)
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{
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LLJoint* joint = *iter;
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LLJoint *found = joint->findJoint(name);
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if (found)
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{
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return found;
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}
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}
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return NULL;
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}
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//--------------------------------------------------------------------
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// addChild()
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//--------------------------------------------------------------------
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void LLJoint::addChild(LLJoint* joint)
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{
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if (joint->mParent)
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joint->mParent->removeChild(joint);
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mChildren.push_back(joint);
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joint->mXform.setParent(&mXform);
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joint->mParent = this;
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joint->touch();
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}
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//--------------------------------------------------------------------
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// removeChild()
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//--------------------------------------------------------------------
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void LLJoint::removeChild(LLJoint* joint)
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{
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child_list_t::iterator iter = std::find(mChildren.begin(), mChildren.end(), joint);
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if (iter != mChildren.end())
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{
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mChildren.erase(iter);
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joint->mXform.setParent(NULL);
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joint->mParent = NULL;
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joint->touch();
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}
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}
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//--------------------------------------------------------------------
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// removeAllChildren()
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//--------------------------------------------------------------------
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void LLJoint::removeAllChildren()
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{
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for (child_list_t::iterator iter = mChildren.begin();
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iter != mChildren.end();)
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{
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child_list_t::iterator curiter = iter++;
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LLJoint* joint = *curiter;
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mChildren.erase(curiter);
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joint->mXform.setParent(NULL);
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joint->mParent = NULL;
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joint->touch();
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}
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}
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//--------------------------------------------------------------------
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// getPosition()
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//--------------------------------------------------------------------
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const LLVector3& LLJoint::getPosition()
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{
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return mXform.getPosition();
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}
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//--------------------------------------------------------------------
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// setPosition()
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//--------------------------------------------------------------------
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void LLJoint::setPosition( const LLVector3& pos )
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{
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// if (mXform.getPosition() != pos)
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{
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mXform.setPosition(pos);
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touch(MATRIX_DIRTY | POSITION_DIRTY);
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}
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}
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//--------------------------------------------------------------------
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// setPosition()
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//--------------------------------------------------------------------
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void LLJoint::setDefaultFromCurrentXform( void )
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{
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mDefaultXform = mXform;
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touch(MATRIX_DIRTY | POSITION_DIRTY);
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}
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//--------------------------------------------------------------------
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// storeCurrentXform()
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//--------------------------------------------------------------------
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void LLJoint::storeCurrentXform( const LLVector3& pos )
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{
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mOldXform = mXform;
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mResetAfterRestoreOldXform = true;
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setPosition( pos );
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}
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//--------------------------------------------------------------------
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// restoreOldXform()
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//--------------------------------------------------------------------
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void LLJoint::restoreOldXform( void )
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{
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mResetAfterRestoreOldXform = false;
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mXform = mOldXform;
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}
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//--------------------------------------------------------------------
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// restoreOldXform()
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//--------------------------------------------------------------------
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void LLJoint::restoreToDefaultXform( void )
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{
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mXform = mDefaultXform;
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setPosition( mXform.getPosition() );
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}
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//--------------------------------------------------------------------
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// getWorldPosition()
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//--------------------------------------------------------------------
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LLVector3 LLJoint::getWorldPosition()
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{
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updateWorldPRSParent();
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return mXform.getWorldPosition();
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}
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//-----------------------------------------------------------------------------
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// getLastWorldPosition()
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//-----------------------------------------------------------------------------
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LLVector3 LLJoint::getLastWorldPosition()
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{
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return mXform.getWorldPosition();
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}
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//--------------------------------------------------------------------
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// setWorldPosition()
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//--------------------------------------------------------------------
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void LLJoint::setWorldPosition( const LLVector3& pos )
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{
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if (mParent == NULL)
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{
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this->setPosition( pos );
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return;
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}
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LLMatrix4a temp_matrix = getWorldMatrix();
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temp_matrix.setTranslate_affine(pos);
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LLMatrix4a invParentWorldMatrix = mParent->getWorldMatrix();
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invParentWorldMatrix.invert();
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invParentWorldMatrix.mul(temp_matrix);
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LLVector3 localPos( invParentWorldMatrix.getRow<LLMatrix4a::ROW_TRANS>().getF32ptr() );
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setPosition( localPos );
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}
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//--------------------------------------------------------------------
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// mXform.getRotation()
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//--------------------------------------------------------------------
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const LLQuaternion& LLJoint::getRotation()
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{
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return mXform.getRotation();
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}
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//--------------------------------------------------------------------
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// setRotation()
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//--------------------------------------------------------------------
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void LLJoint::setRotation( const LLQuaternion& rot )
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{
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if (rot.isFinite())
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{
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// if (mXform.getRotation() != rot)
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{
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mXform.setRotation(rot);
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touch(MATRIX_DIRTY | ROTATION_DIRTY);
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}
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}
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}
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//--------------------------------------------------------------------
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// getWorldRotation()
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//--------------------------------------------------------------------
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LLQuaternion LLJoint::getWorldRotation()
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{
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updateWorldPRSParent();
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return mXform.getWorldRotation();
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}
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//-----------------------------------------------------------------------------
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// getLastWorldRotation()
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//-----------------------------------------------------------------------------
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LLQuaternion LLJoint::getLastWorldRotation()
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{
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return mXform.getWorldRotation();
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}
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//--------------------------------------------------------------------
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// setWorldRotation()
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//--------------------------------------------------------------------
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void LLJoint::setWorldRotation( const LLQuaternion& rot )
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{
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if (mParent == NULL)
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{
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this->setRotation( rot );
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return;
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}
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LLMatrix4a parentWorldMatrix = mParent->getWorldMatrix();
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LLQuaternion2 rota(rot);
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LLMatrix4a temp_mat(rota);
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LLMatrix4a invParentWorldMatrix = mParent->getWorldMatrix();
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invParentWorldMatrix.setTranslate_affine(LLVector3(0.f));
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invParentWorldMatrix.invert();
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invParentWorldMatrix.mul(temp_mat);
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setRotation(LLQuaternion(LLMatrix4(invParentWorldMatrix.getF32ptr())));
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}
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//--------------------------------------------------------------------
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// getScale()
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//--------------------------------------------------------------------
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const LLVector3& LLJoint::getScale()
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{
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return mXform.getScale();
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}
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//--------------------------------------------------------------------
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// setScale()
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//--------------------------------------------------------------------
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void LLJoint::setScale( const LLVector3& scale )
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{
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// if (mXform.getScale() != scale)
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{
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mXform.setScale(scale);
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touch();
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}
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}
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//--------------------------------------------------------------------
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// getWorldMatrix()
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//--------------------------------------------------------------------
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const LLMatrix4a &LLJoint::getWorldMatrix()
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{
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updateWorldMatrixParent();
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return mXform.getWorldMatrix();
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}
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//--------------------------------------------------------------------
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// setWorldMatrix()
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//--------------------------------------------------------------------
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void LLJoint::setWorldMatrix( const LLMatrix4& mat )
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{
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llinfos << "WARNING: LLJoint::setWorldMatrix() not correctly implemented yet" << llendl;
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// extract global translation
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LLVector3 trans( mat.mMatrix[VW][VX],
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mat.mMatrix[VW][VY],
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mat.mMatrix[VW][VZ] );
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// extract global rotation
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LLQuaternion rot( mat );
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setWorldPosition( trans );
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setWorldRotation( rot );
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}
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//-----------------------------------------------------------------------------
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// updateWorldMatrixParent()
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//-----------------------------------------------------------------------------
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void LLJoint::updateWorldMatrixParent()
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{
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if (mDirtyFlags & MATRIX_DIRTY)
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{
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LLJoint *parent = getParent();
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if (parent)
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{
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parent->updateWorldMatrixParent();
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}
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updateWorldMatrix();
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}
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}
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//-----------------------------------------------------------------------------
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// updateWorldPRSParent()
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//-----------------------------------------------------------------------------
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void LLJoint::updateWorldPRSParent()
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{
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if (mDirtyFlags & (ROTATION_DIRTY | POSITION_DIRTY))
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{
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LLJoint *parent = getParent();
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if (parent)
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{
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parent->updateWorldPRSParent();
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}
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mXform.update();
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mDirtyFlags &= ~(ROTATION_DIRTY | POSITION_DIRTY);
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}
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}
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//-----------------------------------------------------------------------------
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// updateWorldMatrixChildren()
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//-----------------------------------------------------------------------------
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void LLJoint::updateWorldMatrixChildren()
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{
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if (!this->mUpdateXform) return;
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if (mDirtyFlags & MATRIX_DIRTY)
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{
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updateWorldMatrix();
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}
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for (child_list_t::iterator iter = mChildren.begin();
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iter != mChildren.end(); ++iter)
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{
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LLJoint* joint = *iter;
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joint->updateWorldMatrixChildren();
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}
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}
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//-----------------------------------------------------------------------------
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// updateWorldMatrix()
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//-----------------------------------------------------------------------------
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void LLJoint::updateWorldMatrix()
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{
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if (mDirtyFlags & MATRIX_DIRTY)
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{
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sNumUpdates++;
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mXform.updateMatrix(FALSE);
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mDirtyFlags = 0x0;
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}
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}
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//--------------------------------------------------------------------
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// getSkinOffset()
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//--------------------------------------------------------------------
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const LLVector3 &LLJoint::getSkinOffset()
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{
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return mSkinOffset;
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}
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//--------------------------------------------------------------------
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// setSkinOffset()
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//--------------------------------------------------------------------
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void LLJoint::setSkinOffset( const LLVector3& offset )
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{
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mSkinOffset = offset;
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}
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//-----------------------------------------------------------------------------
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// clampRotation()
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//-----------------------------------------------------------------------------
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void LLJoint::clampRotation(LLQuaternion old_rot, LLQuaternion new_rot)
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{
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LLVector3 main_axis(1.f, 0.f, 0.f);
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for (child_list_t::iterator iter = mChildren.begin();
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iter != mChildren.end(); ++iter)
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{
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LLJoint* joint = *iter;
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if (joint->isAnimatable())
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{
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main_axis = joint->getPosition();
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main_axis.normVec();
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// only care about first animatable child
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break;
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}
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}
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// 2003.03.26 - This code was just using up cpu cycles. AB
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// LLVector3 old_axis = main_axis * old_rot;
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// LLVector3 new_axis = main_axis * new_rot;
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// for (S32 i = 0; i < mConstraintSilhouette.count() - 1; i++)
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// {
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// LLVector3 vert1 = mConstraintSilhouette[i];
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// LLVector3 vert2 = mConstraintSilhouette[i + 1];
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// figure out how to clamp rotation to line on 3-sphere
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// }
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}
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// <edit>
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std::string LLJoint::exportString(U32 tabs)
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{
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std::string out;
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for(U32 i = 0; i < tabs; i++) out.append("\t");
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out.append("<joint ");
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out.append(llformat("name=\"%s\" ", this->mName.c_str()));
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LLVector3 position = getPosition();
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out.append(llformat("pos=\"<%f, %f, %f>\" ", position.mV[0], position.mV[1], position.mV[2]));
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LLQuaternion rotation = getRotation();
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out.append(llformat("rot=\"<%f, %f, %f, %f>\" ", rotation.mQ[0], rotation.mQ[1], rotation.mQ[2], rotation.mQ[3]));
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if(mChildren.empty())
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{
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out.append("/>\n");
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}
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else
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{
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out.append(">\n");
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int next_tab = tabs + 1;
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child_list_t::iterator end = mChildren.end();
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for(child_list_t::iterator iter = mChildren.begin(); iter != end; ++iter)
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{
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out.append((*iter)->exportString(next_tab));
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}
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for(U32 i = 0; i < tabs; i++) out.append("\t");
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out.append("</joint>\n");
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}
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return out;
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}
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// </edit>
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// End
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