diff options
Diffstat (limited to 'indra/llcharacter/llkeyframestandmotion.cpp')
| -rw-r--r-- | indra/llcharacter/llkeyframestandmotion.cpp | 470 |
1 files changed, 235 insertions, 235 deletions
diff --git a/indra/llcharacter/llkeyframestandmotion.cpp b/indra/llcharacter/llkeyframestandmotion.cpp index 02c1d3cdbd..16f4cdc115 100644 --- a/indra/llcharacter/llkeyframestandmotion.cpp +++ b/indra/llcharacter/llkeyframestandmotion.cpp @@ -1,25 +1,25 @@ -/** +/** * @file llkeyframestandmotion.cpp * @brief Implementation of LLKeyframeStandMotion class. * * $LicenseInfo:firstyear=2001&license=viewerlgpl$ * Second Life Viewer Source Code * Copyright (C) 2010, Linden Research, Inc. - * + * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; * version 2.1 of the License only. - * + * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. - * + * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * + * * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ @@ -35,7 +35,7 @@ //----------------------------------------------------------------------------- // Macros and consts //----------------------------------------------------------------------------- -#define GO_TO_KEY_POSE 1 +#define GO_TO_KEY_POSE 1 #define MIN_TRACK_SPEED 0.01f const F32 ROTATION_THRESHOLD = 0.6f; const F32 POSITION_THRESHOLD = 0.1f; @@ -46,30 +46,30 @@ const F32 POSITION_THRESHOLD = 0.1f; //----------------------------------------------------------------------------- LLKeyframeStandMotion::LLKeyframeStandMotion(const LLUUID &id) : LLKeyframeMotion(id) { - mFlipFeet = FALSE; - mCharacter = NULL; + mFlipFeet = FALSE; + mCharacter = NULL; - // create kinematic hierarchy - mPelvisJoint.addChild( &mHipLeftJoint ); - mHipLeftJoint.addChild( &mKneeLeftJoint ); - mKneeLeftJoint.addChild( &mAnkleLeftJoint ); - mPelvisJoint.addChild( &mHipRightJoint ); - mHipRightJoint.addChild( &mKneeRightJoint ); - mKneeRightJoint.addChild( &mAnkleRightJoint ); + // create kinematic hierarchy + mPelvisJoint.addChild( &mHipLeftJoint ); + mHipLeftJoint.addChild( &mKneeLeftJoint ); + mKneeLeftJoint.addChild( &mAnkleLeftJoint ); + mPelvisJoint.addChild( &mHipRightJoint ); + mHipRightJoint.addChild( &mKneeRightJoint ); + mKneeRightJoint.addChild( &mAnkleRightJoint ); - mPelvisState = NULL; + mPelvisState = NULL; - mHipLeftState = NULL; - mKneeLeftState = NULL; - mAnkleLeftState = NULL; + mHipLeftState = NULL; + mKneeLeftState = NULL; + mAnkleLeftState = NULL; - mHipRightState = NULL; - mKneeRightState = NULL; - mAnkleRightState = NULL; + mHipRightState = NULL; + mKneeRightState = NULL; + mAnkleRightState = NULL; - mTrackAnkles = TRUE; + mTrackAnkles = TRUE; - mFrameNum = 0; + mFrameNum = 0; } @@ -87,43 +87,43 @@ LLKeyframeStandMotion::~LLKeyframeStandMotion() //----------------------------------------------------------------------------- LLMotion::LLMotionInitStatus LLKeyframeStandMotion::onInitialize(LLCharacter *character) { - // save character pointer for later use - mCharacter = character; - - mFlipFeet = FALSE; - - // load keyframe data, setup pose and joint states - LLMotion::LLMotionInitStatus status = LLKeyframeMotion::onInitialize(character); - if ( status == STATUS_FAILURE ) - { - return status; - } - - // find the necessary joint states - LLPose *pose = getPose(); - mPelvisState = pose->findJointState("mPelvis"); - - mHipLeftState = pose->findJointState("mHipLeft"); - mKneeLeftState = pose->findJointState("mKneeLeft"); - mAnkleLeftState = pose->findJointState("mAnkleLeft"); - - mHipRightState = pose->findJointState("mHipRight"); - mKneeRightState = pose->findJointState("mKneeRight"); - mAnkleRightState = pose->findJointState("mAnkleRight"); - - if ( !mPelvisState || - !mHipLeftState || - !mKneeLeftState || - !mAnkleLeftState || - !mHipRightState || - !mKneeRightState || - !mAnkleRightState ) - { - LL_INFOS() << getName() << ": Can't find necessary joint states" << LL_ENDL; - return STATUS_FAILURE; - } - - return STATUS_SUCCESS; + // save character pointer for later use + mCharacter = character; + + mFlipFeet = FALSE; + + // load keyframe data, setup pose and joint states + LLMotion::LLMotionInitStatus status = LLKeyframeMotion::onInitialize(character); + if ( status == STATUS_FAILURE ) + { + return status; + } + + // find the necessary joint states + LLPose *pose = getPose(); + mPelvisState = pose->findJointState("mPelvis"); + + mHipLeftState = pose->findJointState("mHipLeft"); + mKneeLeftState = pose->findJointState("mKneeLeft"); + mAnkleLeftState = pose->findJointState("mAnkleLeft"); + + mHipRightState = pose->findJointState("mHipRight"); + mKneeRightState = pose->findJointState("mKneeRight"); + mAnkleRightState = pose->findJointState("mAnkleRight"); + + if ( !mPelvisState || + !mHipLeftState || + !mKneeLeftState || + !mAnkleLeftState || + !mHipRightState || + !mKneeRightState || + !mAnkleRightState ) + { + LL_INFOS() << getName() << ": Can't find necessary joint states" << LL_ENDL; + return STATUS_FAILURE; + } + + return STATUS_SUCCESS; } //----------------------------------------------------------------------------- @@ -131,20 +131,20 @@ LLMotion::LLMotionInitStatus LLKeyframeStandMotion::onInitialize(LLCharacter *ch //----------------------------------------------------------------------------- BOOL LLKeyframeStandMotion::onActivate() { - //------------------------------------------------------------------------- - // setup the IK solvers - //------------------------------------------------------------------------- - mIKLeft.setPoleVector( LLVector3(1.0f, 0.0f, 0.0f)); - mIKRight.setPoleVector( LLVector3(1.0f, 0.0f, 0.0f)); - mIKLeft.setBAxis( LLVector3(0.05f, 1.0f, 0.0f)); - mIKRight.setBAxis( LLVector3(-0.05f, 1.0f, 0.0f)); + //------------------------------------------------------------------------- + // setup the IK solvers + //------------------------------------------------------------------------- + mIKLeft.setPoleVector( LLVector3(1.0f, 0.0f, 0.0f)); + mIKRight.setPoleVector( LLVector3(1.0f, 0.0f, 0.0f)); + mIKLeft.setBAxis( LLVector3(0.05f, 1.0f, 0.0f)); + mIKRight.setBAxis( LLVector3(-0.05f, 1.0f, 0.0f)); - mLastGoodPelvisRotation.loadIdentity(); - mLastGoodPosition.clearVec(); + mLastGoodPelvisRotation.loadIdentity(); + mLastGoodPosition.clearVec(); - mFrameNum = 0; + mFrameNum = 0; - return LLKeyframeMotion::onActivate(); + return LLKeyframeMotion::onActivate(); } //----------------------------------------------------------------------------- @@ -152,7 +152,7 @@ BOOL LLKeyframeStandMotion::onActivate() //----------------------------------------------------------------------------- void LLKeyframeStandMotion::onDeactivate() { - LLKeyframeMotion::onDeactivate(); + LLKeyframeMotion::onDeactivate(); } //----------------------------------------------------------------------------- @@ -160,183 +160,183 @@ void LLKeyframeStandMotion::onDeactivate() //----------------------------------------------------------------------------- BOOL LLKeyframeStandMotion::onUpdate(F32 time, U8* joint_mask) { - //------------------------------------------------------------------------- - // let the base class update the cycle - //------------------------------------------------------------------------- - BOOL status = LLKeyframeMotion::onUpdate(time, joint_mask); - if (!status) - { - return FALSE; - } - - LLVector3 root_world_pos = mPelvisState->getJoint()->getParent()->getWorldPosition(); - - // have we received a valid world position for this avatar? - if (root_world_pos.isExactlyZero()) - { - return TRUE; - } - - //------------------------------------------------------------------------- - // Stop tracking (start locking) ankles once ease in is done. - // Setting this here ensures we track until we get valid foot position. - //------------------------------------------------------------------------- - if (dot(mPelvisState->getJoint()->getWorldRotation(), mLastGoodPelvisRotation) < ROTATION_THRESHOLD) - { - mLastGoodPelvisRotation = mPelvisState->getJoint()->getWorldRotation(); - mLastGoodPelvisRotation.normalize(); - mTrackAnkles = TRUE; - } - else if ((mCharacter->getCharacterPosition() - mLastGoodPosition).magVecSquared() > POSITION_THRESHOLD) - { - mLastGoodPosition = mCharacter->getCharacterPosition(); - mTrackAnkles = TRUE; - } - else if (mPose.getWeight() < 1.f) - { - mTrackAnkles = TRUE; - } - - - //------------------------------------------------------------------------- - // propagate joint positions to internal versions - //------------------------------------------------------------------------- + //------------------------------------------------------------------------- + // let the base class update the cycle + //------------------------------------------------------------------------- + BOOL status = LLKeyframeMotion::onUpdate(time, joint_mask); + if (!status) + { + return FALSE; + } + + LLVector3 root_world_pos = mPelvisState->getJoint()->getParent()->getWorldPosition(); + + // have we received a valid world position for this avatar? + if (root_world_pos.isExactlyZero()) + { + return TRUE; + } + + //------------------------------------------------------------------------- + // Stop tracking (start locking) ankles once ease in is done. + // Setting this here ensures we track until we get valid foot position. + //------------------------------------------------------------------------- + if (dot(mPelvisState->getJoint()->getWorldRotation(), mLastGoodPelvisRotation) < ROTATION_THRESHOLD) + { + mLastGoodPelvisRotation = mPelvisState->getJoint()->getWorldRotation(); + mLastGoodPelvisRotation.normalize(); + mTrackAnkles = TRUE; + } + else if ((mCharacter->getCharacterPosition() - mLastGoodPosition).magVecSquared() > POSITION_THRESHOLD) + { + mLastGoodPosition = mCharacter->getCharacterPosition(); + mTrackAnkles = TRUE; + } + else if (mPose.getWeight() < 1.f) + { + mTrackAnkles = TRUE; + } + + + //------------------------------------------------------------------------- + // propagate joint positions to internal versions + //------------------------------------------------------------------------- // SL-315 - mPelvisJoint.setPosition( - root_world_pos + - mPelvisState->getPosition() ); + mPelvisJoint.setPosition( + root_world_pos + + mPelvisState->getPosition() ); // SL-315 - mHipLeftJoint.setPosition( mHipLeftState->getJoint()->getPosition() ); - mKneeLeftJoint.setPosition( mKneeLeftState->getJoint()->getPosition() ); - mAnkleLeftJoint.setPosition( mAnkleLeftState->getJoint()->getPosition() ); + mHipLeftJoint.setPosition( mHipLeftState->getJoint()->getPosition() ); + mKneeLeftJoint.setPosition( mKneeLeftState->getJoint()->getPosition() ); + mAnkleLeftJoint.setPosition( mAnkleLeftState->getJoint()->getPosition() ); - mHipLeftJoint.setScale( mHipLeftState->getJoint()->getScale() ); - mKneeLeftJoint.setScale( mKneeLeftState->getJoint()->getScale() ); - mAnkleLeftJoint.setScale( mAnkleLeftState->getJoint()->getScale() ); + mHipLeftJoint.setScale( mHipLeftState->getJoint()->getScale() ); + mKneeLeftJoint.setScale( mKneeLeftState->getJoint()->getScale() ); + mAnkleLeftJoint.setScale( mAnkleLeftState->getJoint()->getScale() ); // SL-315 - mHipRightJoint.setPosition( mHipRightState->getJoint()->getPosition() ); - mKneeRightJoint.setPosition( mKneeRightState->getJoint()->getPosition() ); - mAnkleRightJoint.setPosition( mAnkleRightState->getJoint()->getPosition() ); - - mHipRightJoint.setScale( mHipRightState->getJoint()->getScale() ); - mKneeRightJoint.setScale( mKneeRightState->getJoint()->getScale() ); - mAnkleRightJoint.setScale( mAnkleRightState->getJoint()->getScale() ); - //------------------------------------------------------------------------- - // propagate joint rotations to internal versions - //------------------------------------------------------------------------- - mPelvisJoint.setRotation( mPelvisState->getJoint()->getWorldRotation() ); + mHipRightJoint.setPosition( mHipRightState->getJoint()->getPosition() ); + mKneeRightJoint.setPosition( mKneeRightState->getJoint()->getPosition() ); + mAnkleRightJoint.setPosition( mAnkleRightState->getJoint()->getPosition() ); + + mHipRightJoint.setScale( mHipRightState->getJoint()->getScale() ); + mKneeRightJoint.setScale( mKneeRightState->getJoint()->getScale() ); + mAnkleRightJoint.setScale( mAnkleRightState->getJoint()->getScale() ); + //------------------------------------------------------------------------- + // propagate joint rotations to internal versions + //------------------------------------------------------------------------- + mPelvisJoint.setRotation( mPelvisState->getJoint()->getWorldRotation() ); #if GO_TO_KEY_POSE - mHipLeftJoint.setRotation( mHipLeftState->getRotation() ); - mKneeLeftJoint.setRotation( mKneeLeftState->getRotation() ); - mAnkleLeftJoint.setRotation( mAnkleLeftState->getRotation() ); + mHipLeftJoint.setRotation( mHipLeftState->getRotation() ); + mKneeLeftJoint.setRotation( mKneeLeftState->getRotation() ); + mAnkleLeftJoint.setRotation( mAnkleLeftState->getRotation() ); - mHipRightJoint.setRotation( mHipRightState->getRotation() ); - mKneeRightJoint.setRotation( mKneeRightState->getRotation() ); - mAnkleRightJoint.setRotation( mAnkleRightState->getRotation() ); + mHipRightJoint.setRotation( mHipRightState->getRotation() ); + mKneeRightJoint.setRotation( mKneeRightState->getRotation() ); + mAnkleRightJoint.setRotation( mAnkleRightState->getRotation() ); #else - mHipLeftJoint.setRotation( mHipLeftState->getJoint()->getRotation() ); - mKneeLeftJoint.setRotation( mKneeLeftState->getJoint()->getRotation() ); - mAnkleLeftJoint.setRotation( mAnkleLeftState->getJoint()->getRotation() ); + mHipLeftJoint.setRotation( mHipLeftState->getJoint()->getRotation() ); + mKneeLeftJoint.setRotation( mKneeLeftState->getJoint()->getRotation() ); + mAnkleLeftJoint.setRotation( mAnkleLeftState->getJoint()->getRotation() ); - mHipRightJoint.setRotation( mHipRightState->getJoint()->getRotation() ); - mKneeRightJoint.setRotation( mKneeRightState->getJoint()->getRotation() ); - mAnkleRightJoint.setRotation( mAnkleRightState->getJoint()->getRotation() ); + mHipRightJoint.setRotation( mHipRightState->getJoint()->getRotation() ); + mKneeRightJoint.setRotation( mKneeRightState->getJoint()->getRotation() ); + mAnkleRightJoint.setRotation( mAnkleRightState->getJoint()->getRotation() ); #endif - // need to wait for underlying keyframe motion to affect the skeleton - if (mFrameNum == 2) - { - mIKLeft.setupJoints( &mHipLeftJoint, &mKneeLeftJoint, &mAnkleLeftJoint, &mTargetLeft ); - mIKRight.setupJoints( &mHipRightJoint, &mKneeRightJoint, &mAnkleRightJoint, &mTargetRight ); - } - else if (mFrameNum < 2) - { - mFrameNum++; - return TRUE; - } - - mFrameNum++; - - //------------------------------------------------------------------------- - // compute target position by projecting ankles to the ground - //------------------------------------------------------------------------- - if ( mTrackAnkles ) - { - mCharacter->getGround( mAnkleLeftJoint.getWorldPosition(), mPositionLeft, mNormalLeft); - mCharacter->getGround( mAnkleRightJoint.getWorldPosition(), mPositionRight, mNormalRight); + // need to wait for underlying keyframe motion to affect the skeleton + if (mFrameNum == 2) + { + mIKLeft.setupJoints( &mHipLeftJoint, &mKneeLeftJoint, &mAnkleLeftJoint, &mTargetLeft ); + mIKRight.setupJoints( &mHipRightJoint, &mKneeRightJoint, &mAnkleRightJoint, &mTargetRight ); + } + else if (mFrameNum < 2) + { + mFrameNum++; + return TRUE; + } + + mFrameNum++; + + //------------------------------------------------------------------------- + // compute target position by projecting ankles to the ground + //------------------------------------------------------------------------- + if ( mTrackAnkles ) + { + mCharacter->getGround( mAnkleLeftJoint.getWorldPosition(), mPositionLeft, mNormalLeft); + mCharacter->getGround( mAnkleRightJoint.getWorldPosition(), mPositionRight, mNormalRight); // SL-315 - mTargetLeft.setPosition( mPositionLeft ); - mTargetRight.setPosition( mPositionRight ); - } - - //------------------------------------------------------------------------- - // update solvers - //------------------------------------------------------------------------- - mIKLeft.solve(); - mIKRight.solve(); - - //------------------------------------------------------------------------- - // make ankle rotation conform to the ground - //------------------------------------------------------------------------- - if ( mTrackAnkles ) - { - LLVector4 dirLeft4 = mAnkleLeftJoint.getWorldMatrix().getFwdRow4(); - LLVector4 dirRight4 = mAnkleRightJoint.getWorldMatrix().getFwdRow4(); - LLVector3 dirLeft = vec4to3( dirLeft4 ); - LLVector3 dirRight = vec4to3( dirRight4 ); - - LLVector3 up; - LLVector3 dir; - LLVector3 left; - - up = mNormalLeft; - up.normVec(); - if (mFlipFeet) - { - up *= -1.0f; - } - dir = dirLeft; - dir.normVec(); - left = up % dir; - left.normVec(); - dir = left % up; - mRotationLeft = LLQuaternion( dir, left, up ); - - up = mNormalRight; - up.normVec(); - if (mFlipFeet) - { - up *= -1.0f; - } - dir = dirRight; - dir.normVec(); - left = up % dir; - left.normVec(); - dir = left % up; - mRotationRight = LLQuaternion( dir, left, up ); - } - mAnkleLeftJoint.setWorldRotation( mRotationLeft ); - mAnkleRightJoint.setWorldRotation( mRotationRight ); - - //------------------------------------------------------------------------- - // propagate joint rotations to joint states - //------------------------------------------------------------------------- - mHipLeftState->setRotation( mHipLeftJoint.getRotation() ); - mKneeLeftState->setRotation( mKneeLeftJoint.getRotation() ); - mAnkleLeftState->setRotation( mAnkleLeftJoint.getRotation() ); - - mHipRightState->setRotation( mHipRightJoint.getRotation() ); - mKneeRightState->setRotation( mKneeRightJoint.getRotation() ); - mAnkleRightState->setRotation( mAnkleRightJoint.getRotation() ); - - //LL_INFOS() << "Stand drift amount " << (mCharacter->getCharacterPosition() - mLastGoodPosition).magVec() << LL_ENDL; - -// LL_INFOS() << "DEBUG: " << speed << " : " << mTrackAnkles << LL_ENDL; - return TRUE; + mTargetLeft.setPosition( mPositionLeft ); + mTargetRight.setPosition( mPositionRight ); + } + + //------------------------------------------------------------------------- + // update solvers + //------------------------------------------------------------------------- + mIKLeft.solve(); + mIKRight.solve(); + + //------------------------------------------------------------------------- + // make ankle rotation conform to the ground + //------------------------------------------------------------------------- + if ( mTrackAnkles ) + { + LLVector4 dirLeft4 = mAnkleLeftJoint.getWorldMatrix().getFwdRow4(); + LLVector4 dirRight4 = mAnkleRightJoint.getWorldMatrix().getFwdRow4(); + LLVector3 dirLeft = vec4to3( dirLeft4 ); + LLVector3 dirRight = vec4to3( dirRight4 ); + + LLVector3 up; + LLVector3 dir; + LLVector3 left; + + up = mNormalLeft; + up.normVec(); + if (mFlipFeet) + { + up *= -1.0f; + } + dir = dirLeft; + dir.normVec(); + left = up % dir; + left.normVec(); + dir = left % up; + mRotationLeft = LLQuaternion( dir, left, up ); + + up = mNormalRight; + up.normVec(); + if (mFlipFeet) + { + up *= -1.0f; + } + dir = dirRight; + dir.normVec(); + left = up % dir; + left.normVec(); + dir = left % up; + mRotationRight = LLQuaternion( dir, left, up ); + } + mAnkleLeftJoint.setWorldRotation( mRotationLeft ); + mAnkleRightJoint.setWorldRotation( mRotationRight ); + + //------------------------------------------------------------------------- + // propagate joint rotations to joint states + //------------------------------------------------------------------------- + mHipLeftState->setRotation( mHipLeftJoint.getRotation() ); + mKneeLeftState->setRotation( mKneeLeftJoint.getRotation() ); + mAnkleLeftState->setRotation( mAnkleLeftJoint.getRotation() ); + + mHipRightState->setRotation( mHipRightJoint.getRotation() ); + mKneeRightState->setRotation( mKneeRightJoint.getRotation() ); + mAnkleRightState->setRotation( mAnkleRightJoint.getRotation() ); + + //LL_INFOS() << "Stand drift amount " << (mCharacter->getCharacterPosition() - mLastGoodPosition).magVec() << LL_ENDL; + +// LL_INFOS() << "DEBUG: " << speed << " : " << mTrackAnkles << LL_ENDL; + return TRUE; } // End |