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-rw-r--r--indra/llcharacter/llkeyframestandmotion.cpp684
1 files changed, 342 insertions, 342 deletions
diff --git a/indra/llcharacter/llkeyframestandmotion.cpp b/indra/llcharacter/llkeyframestandmotion.cpp
index 26a4907a01..a882ab3563 100644
--- a/indra/llcharacter/llkeyframestandmotion.cpp
+++ b/indra/llcharacter/llkeyframestandmotion.cpp
@@ -1,342 +1,342 @@
-/**
- * @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
- * $/LicenseInfo$
- */
-
-//-----------------------------------------------------------------------------
-// Header Files
-//-----------------------------------------------------------------------------
-#include "linden_common.h"
-
-#include "llkeyframestandmotion.h"
-#include "llcharacter.h"
-
-//-----------------------------------------------------------------------------
-// Macros and consts
-//-----------------------------------------------------------------------------
-#define GO_TO_KEY_POSE 1
-#define MIN_TRACK_SPEED 0.01f
-const F32 ROTATION_THRESHOLD = 0.6f;
-const F32 POSITION_THRESHOLD = 0.1f;
-
-//-----------------------------------------------------------------------------
-// LLKeyframeStandMotion()
-// Class Constructor
-//-----------------------------------------------------------------------------
-LLKeyframeStandMotion::LLKeyframeStandMotion(const LLUUID &id) : LLKeyframeMotion(id)
-{
- 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 );
-
- mPelvisState = NULL;
-
- mHipLeftState = NULL;
- mKneeLeftState = NULL;
- mAnkleLeftState = NULL;
-
- mHipRightState = NULL;
- mKneeRightState = NULL;
- mAnkleRightState = NULL;
-
- mTrackAnkles = true;
-
- mFrameNum = 0;
-}
-
-
-//-----------------------------------------------------------------------------
-// ~LLKeyframeStandMotion()
-// Class Destructor
-//-----------------------------------------------------------------------------
-LLKeyframeStandMotion::~LLKeyframeStandMotion()
-{
-}
-
-
-//-----------------------------------------------------------------------------
-// LLKeyframeStandMotion::onInitialize()
-//-----------------------------------------------------------------------------
-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;
-}
-
-//-----------------------------------------------------------------------------
-// LLKeyframeStandMotion::onActivate()
-//-----------------------------------------------------------------------------
-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));
-
- mLastGoodPelvisRotation.loadIdentity();
- mLastGoodPosition.clearVec();
-
- mFrameNum = 0;
-
- return LLKeyframeMotion::onActivate();
-}
-
-//-----------------------------------------------------------------------------
-// LLKeyframeStandMotion::onDeactivate()
-//-----------------------------------------------------------------------------
-void LLKeyframeStandMotion::onDeactivate()
-{
- LLKeyframeMotion::onDeactivate();
-}
-
-//-----------------------------------------------------------------------------
-// LLKeyframeStandMotion::onUpdate()
-//-----------------------------------------------------------------------------
-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
- //-------------------------------------------------------------------------
- // SL-315
- 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.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() );
-
-#if GO_TO_KEY_POSE
- mHipLeftJoint.setRotation( mHipLeftState->getRotation() );
- mKneeLeftJoint.setRotation( mKneeLeftState->getRotation() );
- mAnkleLeftJoint.setRotation( mAnkleLeftState->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() );
-
- 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);
-
- // 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;
-}
-
-// End
+/**
+ * @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
+ * $/LicenseInfo$
+ */
+
+//-----------------------------------------------------------------------------
+// Header Files
+//-----------------------------------------------------------------------------
+#include "linden_common.h"
+
+#include "llkeyframestandmotion.h"
+#include "llcharacter.h"
+
+//-----------------------------------------------------------------------------
+// Macros and consts
+//-----------------------------------------------------------------------------
+#define GO_TO_KEY_POSE 1
+#define MIN_TRACK_SPEED 0.01f
+const F32 ROTATION_THRESHOLD = 0.6f;
+const F32 POSITION_THRESHOLD = 0.1f;
+
+//-----------------------------------------------------------------------------
+// LLKeyframeStandMotion()
+// Class Constructor
+//-----------------------------------------------------------------------------
+LLKeyframeStandMotion::LLKeyframeStandMotion(const LLUUID &id) : LLKeyframeMotion(id)
+{
+ 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 );
+
+ mPelvisState = NULL;
+
+ mHipLeftState = NULL;
+ mKneeLeftState = NULL;
+ mAnkleLeftState = NULL;
+
+ mHipRightState = NULL;
+ mKneeRightState = NULL;
+ mAnkleRightState = NULL;
+
+ mTrackAnkles = true;
+
+ mFrameNum = 0;
+}
+
+
+//-----------------------------------------------------------------------------
+// ~LLKeyframeStandMotion()
+// Class Destructor
+//-----------------------------------------------------------------------------
+LLKeyframeStandMotion::~LLKeyframeStandMotion()
+{
+}
+
+
+//-----------------------------------------------------------------------------
+// LLKeyframeStandMotion::onInitialize()
+//-----------------------------------------------------------------------------
+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;
+}
+
+//-----------------------------------------------------------------------------
+// LLKeyframeStandMotion::onActivate()
+//-----------------------------------------------------------------------------
+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));
+
+ mLastGoodPelvisRotation.loadIdentity();
+ mLastGoodPosition.clearVec();
+
+ mFrameNum = 0;
+
+ return LLKeyframeMotion::onActivate();
+}
+
+//-----------------------------------------------------------------------------
+// LLKeyframeStandMotion::onDeactivate()
+//-----------------------------------------------------------------------------
+void LLKeyframeStandMotion::onDeactivate()
+{
+ LLKeyframeMotion::onDeactivate();
+}
+
+//-----------------------------------------------------------------------------
+// LLKeyframeStandMotion::onUpdate()
+//-----------------------------------------------------------------------------
+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
+ //-------------------------------------------------------------------------
+ // SL-315
+ 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.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() );
+
+#if GO_TO_KEY_POSE
+ mHipLeftJoint.setRotation( mHipLeftState->getRotation() );
+ mKneeLeftJoint.setRotation( mKneeLeftState->getRotation() );
+ mAnkleLeftJoint.setRotation( mAnkleLeftState->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() );
+
+ 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);
+
+ // 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;
+}
+
+// End
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