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-rw-r--r--indra/llcharacter/llkeyframewalkmotion.cpp786
1 files changed, 393 insertions, 393 deletions
diff --git a/indra/llcharacter/llkeyframewalkmotion.cpp b/indra/llcharacter/llkeyframewalkmotion.cpp
index 0dce80f0da..605e15f442 100644
--- a/indra/llcharacter/llkeyframewalkmotion.cpp
+++ b/indra/llcharacter/llkeyframewalkmotion.cpp
@@ -1,393 +1,393 @@
-/**
- * @file llkeyframewalkmotion.cpp
- * @brief Implementation of LLKeyframeWalkMotion 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 "llkeyframewalkmotion.h"
-#include "llcharacter.h"
-#include "llmath.h"
-#include "m3math.h"
-#include "llcriticaldamp.h"
-
-//-----------------------------------------------------------------------------
-// Macros
-//-----------------------------------------------------------------------------
-const F32 MAX_WALK_PLAYBACK_SPEED = 8.f; // max m/s for which we adjust walk cycle speed
-
-const F32 MIN_WALK_SPEED = 0.1f; // minimum speed at which we use velocity for down foot detection
-const F32 TIME_EPSILON = 0.001f; // minumum frame time
-const F32 MAX_TIME_DELTA = 2.f; // max two seconds a frame for calculating interpolation
-F32 SPEED_ADJUST_MAX_SEC = 2.f; // maximum adjustment to walk animation playback speed for a second
-F32 ANIM_SPEED_MAX = 1.5f; // absolute upper limit on animation speed
-const F32 MAX_ROLL = 0.6f;
-const F32 SPEED_ADJUST_TIME_CONSTANT = 0.1f; // time constant for speed adjustment interpolation
-
-//-----------------------------------------------------------------------------
-// LLKeyframeWalkMotion()
-// Class Constructor
-//-----------------------------------------------------------------------------
-LLKeyframeWalkMotion::LLKeyframeWalkMotion(const LLUUID &id)
-: LLKeyframeMotion(id),
- mCharacter(NULL),
- mCyclePhase(0.0f),
- mRealTimeLast(0.0f),
- mAdjTimeLast(0.0f),
- mDownFoot(0)
-{}
-
-
-//-----------------------------------------------------------------------------
-// ~LLKeyframeWalkMotion()
-// Class Destructor
-//-----------------------------------------------------------------------------
-LLKeyframeWalkMotion::~LLKeyframeWalkMotion()
-{}
-
-
-//-----------------------------------------------------------------------------
-// LLKeyframeWalkMotion::onInitialize()
-//-----------------------------------------------------------------------------
-LLMotion::LLMotionInitStatus LLKeyframeWalkMotion::onInitialize(LLCharacter *character)
-{
- mCharacter = character;
-
- return LLKeyframeMotion::onInitialize(character);
-}
-
-//-----------------------------------------------------------------------------
-// LLKeyframeWalkMotion::onActivate()
-//-----------------------------------------------------------------------------
-bool LLKeyframeWalkMotion::onActivate()
-{
- mRealTimeLast = 0.0f;
- mAdjTimeLast = 0.0f;
-
- return LLKeyframeMotion::onActivate();
-}
-
-//-----------------------------------------------------------------------------
-// LLKeyframeWalkMotion::onDeactivate()
-//-----------------------------------------------------------------------------
-void LLKeyframeWalkMotion::onDeactivate()
-{
- mCharacter->removeAnimationData("Down Foot");
- LLKeyframeMotion::onDeactivate();
-}
-
-//-----------------------------------------------------------------------------
-// LLKeyframeWalkMotion::onUpdate()
-//-----------------------------------------------------------------------------
-bool LLKeyframeWalkMotion::onUpdate(F32 time, U8* joint_mask)
-{
- LL_PROFILE_ZONE_SCOPED;
- // compute time since last update
- F32 deltaTime = time - mRealTimeLast;
-
- void* speed_ptr = mCharacter->getAnimationData("Walk Speed");
- F32 speed = (speed_ptr) ? *((F32 *)speed_ptr) : 1.f;
-
- // adjust the passage of time accordingly
- F32 adjusted_time = mAdjTimeLast + (deltaTime * speed);
-
- // save time for next update
- mRealTimeLast = time;
- mAdjTimeLast = adjusted_time;
-
- // handle wrap around
- if (adjusted_time < 0.0f)
- {
- adjusted_time = getDuration() + fmod(adjusted_time, getDuration());
- }
-
- // let the base class update the cycle
- return LLKeyframeMotion::onUpdate( adjusted_time, joint_mask );
-}
-
-// End
-
-
-//-----------------------------------------------------------------------------
-// LLWalkAdjustMotion()
-// Class Constructor
-//-----------------------------------------------------------------------------
-LLWalkAdjustMotion::LLWalkAdjustMotion(const LLUUID &id) :
- LLMotion(id),
- mLastTime(0.f),
- mAnimSpeed(0.f),
- mAdjustedSpeed(0.f),
- mRelativeDir(0.f),
- mAnkleOffset(0.f)
-{
- mName = "walk_adjust";
- mPelvisState = new LLJointState;
-}
-
-//-----------------------------------------------------------------------------
-// LLWalkAdjustMotion::onInitialize()
-//-----------------------------------------------------------------------------
-LLMotion::LLMotionInitStatus LLWalkAdjustMotion::onInitialize(LLCharacter *character)
-{
- mCharacter = character;
- mLeftAnkleJoint = mCharacter->getJoint("mAnkleLeft");
- mRightAnkleJoint = mCharacter->getJoint("mAnkleRight");
-
- mPelvisJoint = mCharacter->getJoint("mPelvis");
- mPelvisState->setJoint( mPelvisJoint );
- if ( !mPelvisJoint )
- {
- LL_WARNS() << getName() << ": Can't get pelvis joint." << LL_ENDL;
- return STATUS_FAILURE;
- }
-
- mPelvisState->setUsage(LLJointState::POS);
- addJointState( mPelvisState );
-
- return STATUS_SUCCESS;
-}
-
-//-----------------------------------------------------------------------------
-// LLWalkAdjustMotion::onActivate()
-//-----------------------------------------------------------------------------
-bool LLWalkAdjustMotion::onActivate()
-{
- mAnimSpeed = 0.f;
- mAdjustedSpeed = 0.f;
- mRelativeDir = 1.f;
- mPelvisState->setPosition(LLVector3::zero);
- // store ankle positions for next frame
- mLastLeftFootGlobalPos = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition());
- mLastLeftFootGlobalPos.mdV[VZ] = 0.0;
-
- mLastRightFootGlobalPos = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition());
- mLastRightFootGlobalPos.mdV[VZ] = 0.0;
-
- F32 leftAnkleOffset = (mLeftAnkleJoint->getWorldPosition() - mCharacter->getCharacterPosition()).magVec();
- F32 rightAnkleOffset = (mRightAnkleJoint->getWorldPosition() - mCharacter->getCharacterPosition()).magVec();
- mAnkleOffset = llmax(leftAnkleOffset, rightAnkleOffset);
-
- return true;
-}
-
-//-----------------------------------------------------------------------------
-// LLWalkAdjustMotion::onUpdate()
-//-----------------------------------------------------------------------------
-bool LLWalkAdjustMotion::onUpdate(F32 time, U8* joint_mask)
-{
- LL_PROFILE_ZONE_SCOPED;
- // delta_time is guaranteed to be non zero
- F32 delta_time = llclamp(time - mLastTime, TIME_EPSILON, MAX_TIME_DELTA);
- mLastTime = time;
-
- // find the avatar motion vector in the XY plane
- LLVector3 avatar_velocity = mCharacter->getCharacterVelocity() * mCharacter->getTimeDilation();
- avatar_velocity.mV[VZ] = 0.f;
-
- F32 speed = llclamp(avatar_velocity.magVec(), 0.f, MAX_WALK_PLAYBACK_SPEED);
-
- // grab avatar->world transforms
- LLQuaternion avatar_to_world_rot = mCharacter->getRootJoint()->getWorldRotation();
-
- LLQuaternion world_to_avatar_rot(avatar_to_world_rot);
- world_to_avatar_rot.conjugate();
-
- LLVector3 foot_slip_vector;
-
- // find foot drift along velocity vector
- if (speed > MIN_WALK_SPEED)
- { // walking/running
-
- // calculate world-space foot drift
- // use global coordinates to seamlessly handle region crossings
- LLVector3d leftFootGlobalPosition = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition());
- leftFootGlobalPosition.mdV[VZ] = 0.0;
- LLVector3 leftFootDelta(leftFootGlobalPosition - mLastLeftFootGlobalPos);
- mLastLeftFootGlobalPos = leftFootGlobalPosition;
-
- LLVector3d rightFootGlobalPosition = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition());
- rightFootGlobalPosition.mdV[VZ] = 0.0;
- LLVector3 rightFootDelta(rightFootGlobalPosition - mLastRightFootGlobalPos);
- mLastRightFootGlobalPos = rightFootGlobalPosition;
-
- // get foot drift along avatar direction of motion
- F32 left_foot_slip_amt = leftFootDelta * avatar_velocity;
- F32 right_foot_slip_amt = rightFootDelta * avatar_velocity;
-
- // if right foot is pushing back faster than left foot...
- if (right_foot_slip_amt < left_foot_slip_amt)
- { //...use it to calculate optimal animation speed
- foot_slip_vector = rightFootDelta;
- }
- else
- { // otherwise use the left foot
- foot_slip_vector = leftFootDelta;
- }
-
- // calculate ideal pelvis offset so that foot is glued to ground and damp towards it
- // this will soak up transient slippage
- //
- // FIXME: this interacts poorly with speed adjustment
- // mPelvisOffset compensates for foot drift by moving the avatar pelvis in the opposite
- // direction of the drift, up to a certain limited distance
- // but this will cause the animation playback rate calculation below to
- // kick in too slowly and sometimes start playing the animation in reverse.
-
- //mPelvisOffset -= PELVIS_COMPENSATION_WIEGHT * (foot_slip_vector * world_to_avatar_rot);//lerp(LLVector3::zero, -1.f * (foot_slip_vector * world_to_avatar_rot), LLSmoothInterpolation::getInterpolant(0.1f));
-
- ////F32 drift_comp_max = DRIFT_COMP_MAX_TOTAL * (llclamp(speed, 0.f, DRIFT_COMP_MAX_SPEED) / DRIFT_COMP_MAX_SPEED);
- //F32 drift_comp_max = DRIFT_COMP_MAX_TOTAL;
-
- //// clamp pelvis offset to a 90 degree arc behind the nominal position
- //// NB: this is an ADDITIVE amount that is accumulated every frame, so clamping it alone won't do the trick
- //// must clamp with absolute position of pelvis in mind
- //LLVector3 currentPelvisPos = mPelvisState->getJoint()->getPosition();
- //mPelvisOffset.mV[VX] = llclamp( mPelvisOffset.mV[VX], -drift_comp_max, drift_comp_max );
- //mPelvisOffset.mV[VY] = llclamp( mPelvisOffset.mV[VY], -drift_comp_max, drift_comp_max );
- //mPelvisOffset.mV[VZ] = 0.f;
- //
- //mLastRightFootGlobalPos += LLVector3d(mPelvisOffset * avatar_to_world_rot);
- //mLastLeftFootGlobalPos += LLVector3d(mPelvisOffset * avatar_to_world_rot);
-
- //foot_slip_vector -= mPelvisOffset;
-
- LLVector3 avatar_movement_dir = avatar_velocity;
- avatar_movement_dir.normalize();
-
- // planted foot speed is avatar velocity - foot slip amount along avatar movement direction
- F32 foot_speed = speed - ((foot_slip_vector * avatar_movement_dir) / delta_time);
-
- // multiply animation playback rate so that foot speed matches avatar speed
- F32 min_speed_multiplier = clamp_rescale(speed, 0.f, 1.f, 0.f, 0.1f);
- F32 desired_speed_multiplier = llclamp(speed / foot_speed, min_speed_multiplier, ANIM_SPEED_MAX);
-
- // blend towards new speed adjustment value
- F32 new_speed_adjust = LLSmoothInterpolation::lerp(mAdjustedSpeed, desired_speed_multiplier, SPEED_ADJUST_TIME_CONSTANT);
-
- // limit that rate at which the speed adjustment changes
- F32 speedDelta = llclamp(new_speed_adjust - mAdjustedSpeed, -SPEED_ADJUST_MAX_SEC * delta_time, SPEED_ADJUST_MAX_SEC * delta_time);
- mAdjustedSpeed += speedDelta;
-
- // modulate speed by dot products of facing and velocity
- // so that if we are moving sideways, we slow down the animation
- // and if we're moving backward, we walk backward
- // do this at the end to be more responsive to direction changes instead of in the above speed calculations
- F32 directional_factor = (avatar_movement_dir * world_to_avatar_rot).mV[VX];
-
- mAnimSpeed = mAdjustedSpeed * directional_factor;
- }
- else
- { // standing/turning
-
- // damp out speed adjustment to 0
- mAnimSpeed = LLSmoothInterpolation::lerp(mAnimSpeed, 1.f, 0.2f);
- //mPelvisOffset = lerp(mPelvisOffset, LLVector3::zero, LLSmoothInterpolation::getInterpolant(0.2f));
- }
-
- // broadcast walk speed change
- mCharacter->setAnimationData("Walk Speed", &mAnimSpeed);
-
- // set position
- // need to update *some* joint to keep this animation active
- mPelvisState->setPosition(mPelvisOffset);
-
- return true;
-}
-
-//-----------------------------------------------------------------------------
-// LLWalkAdjustMotion::onDeactivate()
-//-----------------------------------------------------------------------------
-void LLWalkAdjustMotion::onDeactivate()
-{
- mCharacter->removeAnimationData("Walk Speed");
-}
-
-//-----------------------------------------------------------------------------
-// LLFlyAdjustMotion::LLFlyAdjustMotion()
-//-----------------------------------------------------------------------------
-LLFlyAdjustMotion::LLFlyAdjustMotion(const LLUUID &id)
- : LLMotion(id),
- mRoll(0.f)
-{
- mName = "fly_adjust";
-
- mPelvisState = new LLJointState;
-}
-
-//-----------------------------------------------------------------------------
-// LLFlyAdjustMotion::onInitialize()
-//-----------------------------------------------------------------------------
-LLMotion::LLMotionInitStatus LLFlyAdjustMotion::onInitialize(LLCharacter *character)
-{
- mCharacter = character;
-
- LLJoint* pelvisJoint = mCharacter->getJoint("mPelvis");
- mPelvisState->setJoint( pelvisJoint );
- if ( !pelvisJoint )
- {
- LL_WARNS() << getName() << ": Can't get pelvis joint." << LL_ENDL;
- return STATUS_FAILURE;
- }
-
- mPelvisState->setUsage(LLJointState::POS | LLJointState::ROT);
- addJointState( mPelvisState );
-
- return STATUS_SUCCESS;
-}
-
-//-----------------------------------------------------------------------------
-// LLFlyAdjustMotion::onActivate()
-//-----------------------------------------------------------------------------
-bool LLFlyAdjustMotion::onActivate()
-{
- mPelvisState->setPosition(LLVector3::zero);
- mPelvisState->setRotation(LLQuaternion::DEFAULT);
- mRoll = 0.f;
- return true;
-}
-
-//-----------------------------------------------------------------------------
-// LLFlyAdjustMotion::onUpdate()
-//-----------------------------------------------------------------------------
-bool LLFlyAdjustMotion::onUpdate(F32 time, U8* joint_mask)
-{
- LL_PROFILE_ZONE_SCOPED;
- LLVector3 ang_vel = mCharacter->getCharacterAngularVelocity() * mCharacter->getTimeDilation();
- F32 speed = mCharacter->getCharacterVelocity().magVec();
-
- F32 roll_factor = clamp_rescale(speed, 7.f, 15.f, 0.f, -MAX_ROLL);
- F32 target_roll = llclamp(ang_vel.mV[VZ], -4.f, 4.f) * roll_factor;
-
- // roll is critically damped interpolation between current roll and angular velocity-derived target roll
- mRoll = LLSmoothInterpolation::lerp(mRoll, target_roll, U32Milliseconds(100));
-
- LLQuaternion roll(mRoll, LLVector3(0.f, 0.f, 1.f));
- mPelvisState->setRotation(roll);
-
- return true;
-}
-
+/**
+ * @file llkeyframewalkmotion.cpp
+ * @brief Implementation of LLKeyframeWalkMotion 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 "llkeyframewalkmotion.h"
+#include "llcharacter.h"
+#include "llmath.h"
+#include "m3math.h"
+#include "llcriticaldamp.h"
+
+//-----------------------------------------------------------------------------
+// Macros
+//-----------------------------------------------------------------------------
+const F32 MAX_WALK_PLAYBACK_SPEED = 8.f; // max m/s for which we adjust walk cycle speed
+
+const F32 MIN_WALK_SPEED = 0.1f; // minimum speed at which we use velocity for down foot detection
+const F32 TIME_EPSILON = 0.001f; // minumum frame time
+const F32 MAX_TIME_DELTA = 2.f; // max two seconds a frame for calculating interpolation
+F32 SPEED_ADJUST_MAX_SEC = 2.f; // maximum adjustment to walk animation playback speed for a second
+F32 ANIM_SPEED_MAX = 1.5f; // absolute upper limit on animation speed
+const F32 MAX_ROLL = 0.6f;
+const F32 SPEED_ADJUST_TIME_CONSTANT = 0.1f; // time constant for speed adjustment interpolation
+
+//-----------------------------------------------------------------------------
+// LLKeyframeWalkMotion()
+// Class Constructor
+//-----------------------------------------------------------------------------
+LLKeyframeWalkMotion::LLKeyframeWalkMotion(const LLUUID &id)
+: LLKeyframeMotion(id),
+ mCharacter(NULL),
+ mCyclePhase(0.0f),
+ mRealTimeLast(0.0f),
+ mAdjTimeLast(0.0f),
+ mDownFoot(0)
+{}
+
+
+//-----------------------------------------------------------------------------
+// ~LLKeyframeWalkMotion()
+// Class Destructor
+//-----------------------------------------------------------------------------
+LLKeyframeWalkMotion::~LLKeyframeWalkMotion()
+{}
+
+
+//-----------------------------------------------------------------------------
+// LLKeyframeWalkMotion::onInitialize()
+//-----------------------------------------------------------------------------
+LLMotion::LLMotionInitStatus LLKeyframeWalkMotion::onInitialize(LLCharacter *character)
+{
+ mCharacter = character;
+
+ return LLKeyframeMotion::onInitialize(character);
+}
+
+//-----------------------------------------------------------------------------
+// LLKeyframeWalkMotion::onActivate()
+//-----------------------------------------------------------------------------
+bool LLKeyframeWalkMotion::onActivate()
+{
+ mRealTimeLast = 0.0f;
+ mAdjTimeLast = 0.0f;
+
+ return LLKeyframeMotion::onActivate();
+}
+
+//-----------------------------------------------------------------------------
+// LLKeyframeWalkMotion::onDeactivate()
+//-----------------------------------------------------------------------------
+void LLKeyframeWalkMotion::onDeactivate()
+{
+ mCharacter->removeAnimationData("Down Foot");
+ LLKeyframeMotion::onDeactivate();
+}
+
+//-----------------------------------------------------------------------------
+// LLKeyframeWalkMotion::onUpdate()
+//-----------------------------------------------------------------------------
+bool LLKeyframeWalkMotion::onUpdate(F32 time, U8* joint_mask)
+{
+ LL_PROFILE_ZONE_SCOPED;
+ // compute time since last update
+ F32 deltaTime = time - mRealTimeLast;
+
+ void* speed_ptr = mCharacter->getAnimationData("Walk Speed");
+ F32 speed = (speed_ptr) ? *((F32 *)speed_ptr) : 1.f;
+
+ // adjust the passage of time accordingly
+ F32 adjusted_time = mAdjTimeLast + (deltaTime * speed);
+
+ // save time for next update
+ mRealTimeLast = time;
+ mAdjTimeLast = adjusted_time;
+
+ // handle wrap around
+ if (adjusted_time < 0.0f)
+ {
+ adjusted_time = getDuration() + fmod(adjusted_time, getDuration());
+ }
+
+ // let the base class update the cycle
+ return LLKeyframeMotion::onUpdate( adjusted_time, joint_mask );
+}
+
+// End
+
+
+//-----------------------------------------------------------------------------
+// LLWalkAdjustMotion()
+// Class Constructor
+//-----------------------------------------------------------------------------
+LLWalkAdjustMotion::LLWalkAdjustMotion(const LLUUID &id) :
+ LLMotion(id),
+ mLastTime(0.f),
+ mAnimSpeed(0.f),
+ mAdjustedSpeed(0.f),
+ mRelativeDir(0.f),
+ mAnkleOffset(0.f)
+{
+ mName = "walk_adjust";
+ mPelvisState = new LLJointState;
+}
+
+//-----------------------------------------------------------------------------
+// LLWalkAdjustMotion::onInitialize()
+//-----------------------------------------------------------------------------
+LLMotion::LLMotionInitStatus LLWalkAdjustMotion::onInitialize(LLCharacter *character)
+{
+ mCharacter = character;
+ mLeftAnkleJoint = mCharacter->getJoint("mAnkleLeft");
+ mRightAnkleJoint = mCharacter->getJoint("mAnkleRight");
+
+ mPelvisJoint = mCharacter->getJoint("mPelvis");
+ mPelvisState->setJoint( mPelvisJoint );
+ if ( !mPelvisJoint )
+ {
+ LL_WARNS() << getName() << ": Can't get pelvis joint." << LL_ENDL;
+ return STATUS_FAILURE;
+ }
+
+ mPelvisState->setUsage(LLJointState::POS);
+ addJointState( mPelvisState );
+
+ return STATUS_SUCCESS;
+}
+
+//-----------------------------------------------------------------------------
+// LLWalkAdjustMotion::onActivate()
+//-----------------------------------------------------------------------------
+bool LLWalkAdjustMotion::onActivate()
+{
+ mAnimSpeed = 0.f;
+ mAdjustedSpeed = 0.f;
+ mRelativeDir = 1.f;
+ mPelvisState->setPosition(LLVector3::zero);
+ // store ankle positions for next frame
+ mLastLeftFootGlobalPos = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition());
+ mLastLeftFootGlobalPos.mdV[VZ] = 0.0;
+
+ mLastRightFootGlobalPos = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition());
+ mLastRightFootGlobalPos.mdV[VZ] = 0.0;
+
+ F32 leftAnkleOffset = (mLeftAnkleJoint->getWorldPosition() - mCharacter->getCharacterPosition()).magVec();
+ F32 rightAnkleOffset = (mRightAnkleJoint->getWorldPosition() - mCharacter->getCharacterPosition()).magVec();
+ mAnkleOffset = llmax(leftAnkleOffset, rightAnkleOffset);
+
+ return true;
+}
+
+//-----------------------------------------------------------------------------
+// LLWalkAdjustMotion::onUpdate()
+//-----------------------------------------------------------------------------
+bool LLWalkAdjustMotion::onUpdate(F32 time, U8* joint_mask)
+{
+ LL_PROFILE_ZONE_SCOPED;
+ // delta_time is guaranteed to be non zero
+ F32 delta_time = llclamp(time - mLastTime, TIME_EPSILON, MAX_TIME_DELTA);
+ mLastTime = time;
+
+ // find the avatar motion vector in the XY plane
+ LLVector3 avatar_velocity = mCharacter->getCharacterVelocity() * mCharacter->getTimeDilation();
+ avatar_velocity.mV[VZ] = 0.f;
+
+ F32 speed = llclamp(avatar_velocity.magVec(), 0.f, MAX_WALK_PLAYBACK_SPEED);
+
+ // grab avatar->world transforms
+ LLQuaternion avatar_to_world_rot = mCharacter->getRootJoint()->getWorldRotation();
+
+ LLQuaternion world_to_avatar_rot(avatar_to_world_rot);
+ world_to_avatar_rot.conjugate();
+
+ LLVector3 foot_slip_vector;
+
+ // find foot drift along velocity vector
+ if (speed > MIN_WALK_SPEED)
+ { // walking/running
+
+ // calculate world-space foot drift
+ // use global coordinates to seamlessly handle region crossings
+ LLVector3d leftFootGlobalPosition = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition());
+ leftFootGlobalPosition.mdV[VZ] = 0.0;
+ LLVector3 leftFootDelta(leftFootGlobalPosition - mLastLeftFootGlobalPos);
+ mLastLeftFootGlobalPos = leftFootGlobalPosition;
+
+ LLVector3d rightFootGlobalPosition = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition());
+ rightFootGlobalPosition.mdV[VZ] = 0.0;
+ LLVector3 rightFootDelta(rightFootGlobalPosition - mLastRightFootGlobalPos);
+ mLastRightFootGlobalPos = rightFootGlobalPosition;
+
+ // get foot drift along avatar direction of motion
+ F32 left_foot_slip_amt = leftFootDelta * avatar_velocity;
+ F32 right_foot_slip_amt = rightFootDelta * avatar_velocity;
+
+ // if right foot is pushing back faster than left foot...
+ if (right_foot_slip_amt < left_foot_slip_amt)
+ { //...use it to calculate optimal animation speed
+ foot_slip_vector = rightFootDelta;
+ }
+ else
+ { // otherwise use the left foot
+ foot_slip_vector = leftFootDelta;
+ }
+
+ // calculate ideal pelvis offset so that foot is glued to ground and damp towards it
+ // this will soak up transient slippage
+ //
+ // FIXME: this interacts poorly with speed adjustment
+ // mPelvisOffset compensates for foot drift by moving the avatar pelvis in the opposite
+ // direction of the drift, up to a certain limited distance
+ // but this will cause the animation playback rate calculation below to
+ // kick in too slowly and sometimes start playing the animation in reverse.
+
+ //mPelvisOffset -= PELVIS_COMPENSATION_WIEGHT * (foot_slip_vector * world_to_avatar_rot);//lerp(LLVector3::zero, -1.f * (foot_slip_vector * world_to_avatar_rot), LLSmoothInterpolation::getInterpolant(0.1f));
+
+ ////F32 drift_comp_max = DRIFT_COMP_MAX_TOTAL * (llclamp(speed, 0.f, DRIFT_COMP_MAX_SPEED) / DRIFT_COMP_MAX_SPEED);
+ //F32 drift_comp_max = DRIFT_COMP_MAX_TOTAL;
+
+ //// clamp pelvis offset to a 90 degree arc behind the nominal position
+ //// NB: this is an ADDITIVE amount that is accumulated every frame, so clamping it alone won't do the trick
+ //// must clamp with absolute position of pelvis in mind
+ //LLVector3 currentPelvisPos = mPelvisState->getJoint()->getPosition();
+ //mPelvisOffset.mV[VX] = llclamp( mPelvisOffset.mV[VX], -drift_comp_max, drift_comp_max );
+ //mPelvisOffset.mV[VY] = llclamp( mPelvisOffset.mV[VY], -drift_comp_max, drift_comp_max );
+ //mPelvisOffset.mV[VZ] = 0.f;
+ //
+ //mLastRightFootGlobalPos += LLVector3d(mPelvisOffset * avatar_to_world_rot);
+ //mLastLeftFootGlobalPos += LLVector3d(mPelvisOffset * avatar_to_world_rot);
+
+ //foot_slip_vector -= mPelvisOffset;
+
+ LLVector3 avatar_movement_dir = avatar_velocity;
+ avatar_movement_dir.normalize();
+
+ // planted foot speed is avatar velocity - foot slip amount along avatar movement direction
+ F32 foot_speed = speed - ((foot_slip_vector * avatar_movement_dir) / delta_time);
+
+ // multiply animation playback rate so that foot speed matches avatar speed
+ F32 min_speed_multiplier = clamp_rescale(speed, 0.f, 1.f, 0.f, 0.1f);
+ F32 desired_speed_multiplier = llclamp(speed / foot_speed, min_speed_multiplier, ANIM_SPEED_MAX);
+
+ // blend towards new speed adjustment value
+ F32 new_speed_adjust = LLSmoothInterpolation::lerp(mAdjustedSpeed, desired_speed_multiplier, SPEED_ADJUST_TIME_CONSTANT);
+
+ // limit that rate at which the speed adjustment changes
+ F32 speedDelta = llclamp(new_speed_adjust - mAdjustedSpeed, -SPEED_ADJUST_MAX_SEC * delta_time, SPEED_ADJUST_MAX_SEC * delta_time);
+ mAdjustedSpeed += speedDelta;
+
+ // modulate speed by dot products of facing and velocity
+ // so that if we are moving sideways, we slow down the animation
+ // and if we're moving backward, we walk backward
+ // do this at the end to be more responsive to direction changes instead of in the above speed calculations
+ F32 directional_factor = (avatar_movement_dir * world_to_avatar_rot).mV[VX];
+
+ mAnimSpeed = mAdjustedSpeed * directional_factor;
+ }
+ else
+ { // standing/turning
+
+ // damp out speed adjustment to 0
+ mAnimSpeed = LLSmoothInterpolation::lerp(mAnimSpeed, 1.f, 0.2f);
+ //mPelvisOffset = lerp(mPelvisOffset, LLVector3::zero, LLSmoothInterpolation::getInterpolant(0.2f));
+ }
+
+ // broadcast walk speed change
+ mCharacter->setAnimationData("Walk Speed", &mAnimSpeed);
+
+ // set position
+ // need to update *some* joint to keep this animation active
+ mPelvisState->setPosition(mPelvisOffset);
+
+ return true;
+}
+
+//-----------------------------------------------------------------------------
+// LLWalkAdjustMotion::onDeactivate()
+//-----------------------------------------------------------------------------
+void LLWalkAdjustMotion::onDeactivate()
+{
+ mCharacter->removeAnimationData("Walk Speed");
+}
+
+//-----------------------------------------------------------------------------
+// LLFlyAdjustMotion::LLFlyAdjustMotion()
+//-----------------------------------------------------------------------------
+LLFlyAdjustMotion::LLFlyAdjustMotion(const LLUUID &id)
+ : LLMotion(id),
+ mRoll(0.f)
+{
+ mName = "fly_adjust";
+
+ mPelvisState = new LLJointState;
+}
+
+//-----------------------------------------------------------------------------
+// LLFlyAdjustMotion::onInitialize()
+//-----------------------------------------------------------------------------
+LLMotion::LLMotionInitStatus LLFlyAdjustMotion::onInitialize(LLCharacter *character)
+{
+ mCharacter = character;
+
+ LLJoint* pelvisJoint = mCharacter->getJoint("mPelvis");
+ mPelvisState->setJoint( pelvisJoint );
+ if ( !pelvisJoint )
+ {
+ LL_WARNS() << getName() << ": Can't get pelvis joint." << LL_ENDL;
+ return STATUS_FAILURE;
+ }
+
+ mPelvisState->setUsage(LLJointState::POS | LLJointState::ROT);
+ addJointState( mPelvisState );
+
+ return STATUS_SUCCESS;
+}
+
+//-----------------------------------------------------------------------------
+// LLFlyAdjustMotion::onActivate()
+//-----------------------------------------------------------------------------
+bool LLFlyAdjustMotion::onActivate()
+{
+ mPelvisState->setPosition(LLVector3::zero);
+ mPelvisState->setRotation(LLQuaternion::DEFAULT);
+ mRoll = 0.f;
+ return true;
+}
+
+//-----------------------------------------------------------------------------
+// LLFlyAdjustMotion::onUpdate()
+//-----------------------------------------------------------------------------
+bool LLFlyAdjustMotion::onUpdate(F32 time, U8* joint_mask)
+{
+ LL_PROFILE_ZONE_SCOPED;
+ LLVector3 ang_vel = mCharacter->getCharacterAngularVelocity() * mCharacter->getTimeDilation();
+ F32 speed = mCharacter->getCharacterVelocity().magVec();
+
+ F32 roll_factor = clamp_rescale(speed, 7.f, 15.f, 0.f, -MAX_ROLL);
+ F32 target_roll = llclamp(ang_vel.mV[VZ], -4.f, 4.f) * roll_factor;
+
+ // roll is critically damped interpolation between current roll and angular velocity-derived target roll
+ mRoll = LLSmoothInterpolation::lerp(mRoll, target_roll, U32Milliseconds(100));
+
+ LLQuaternion roll(mRoll, LLVector3(0.f, 0.f, 1.f));
+ mPelvisState->setRotation(roll);
+
+ return true;
+}
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-19 22:28:59 +0000