1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
|
/**
* @file lleditingmotion.cpp
* @brief Implementation of LLEditingMotion 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 "lleditingmotion.h"
#include "llcharacter.h"
#include "llhandmotion.h"
#include "llcriticaldamp.h"
//-----------------------------------------------------------------------------
// Constants
//-----------------------------------------------------------------------------
const LLQuaternion EDIT_MOTION_WRIST_ROTATION(F_PI_BY_TWO * 0.7f, LLVector3(1.0f, 0.0f, 0.0f));
const F32 TARGET_LAG_HALF_LIFE = 0.1f; // half-life of IK targeting
S32 LLEditingMotion::sHandPose = LLHandMotion::HAND_POSE_RELAXED_R;
S32 LLEditingMotion::sHandPosePriority = 3;
//-----------------------------------------------------------------------------
// LLEditingMotion()
// Class Constructor
//-----------------------------------------------------------------------------
LLEditingMotion::LLEditingMotion( const LLUUID &id) : LLMotion(id)
{
mCharacter = NULL;
// create kinematic chain
mParentJoint.addChild( &mShoulderJoint );
mShoulderJoint.addChild( &mElbowJoint );
mElbowJoint.addChild( &mWristJoint );
mName = "editing";
mParentState = new LLJointState;
mShoulderState = new LLJointState;
mElbowState = new LLJointState;
mWristState = new LLJointState;
mTorsoState = new LLJointState;
}
//-----------------------------------------------------------------------------
// ~LLEditingMotion()
// Class Destructor
//-----------------------------------------------------------------------------
LLEditingMotion::~LLEditingMotion()
{
}
//-----------------------------------------------------------------------------
// LLEditingMotion::onInitialize(LLCharacter *character)
//-----------------------------------------------------------------------------
LLMotion::LLMotionInitStatus LLEditingMotion::onInitialize(LLCharacter *character)
{
// save character for future use
mCharacter = character;
// make sure character skeleton is copacetic
if (!mCharacter->getJoint("mShoulderLeft") ||
!mCharacter->getJoint("mElbowLeft") ||
!mCharacter->getJoint("mWristLeft"))
{
LL_WARNS() << "Invalid skeleton for editing motion!" << LL_ENDL;
return STATUS_FAILURE;
}
// get the shoulder, elbow, wrist joints from the character
mParentState->setJoint( mCharacter->getJoint("mShoulderLeft")->getParent() );
mShoulderState->setJoint( mCharacter->getJoint("mShoulderLeft") );
mElbowState->setJoint( mCharacter->getJoint("mElbowLeft") );
mWristState->setJoint( mCharacter->getJoint("mWristLeft") );
mTorsoState->setJoint( mCharacter->getJoint("mTorso"));
if ( ! mParentState->getJoint() )
{
LL_INFOS() << getName() << ": Can't get parent joint." << LL_ENDL;
return STATUS_FAILURE;
}
mWristOffset = LLVector3(0.0f, 0.2f, 0.0f);
// add joint states to the pose
mShoulderState->setUsage(LLJointState::ROT);
mElbowState->setUsage(LLJointState::ROT);
mTorsoState->setUsage(LLJointState::ROT);
mWristState->setUsage(LLJointState::ROT);
addJointState( mShoulderState );
addJointState( mElbowState );
addJointState( mTorsoState );
addJointState( mWristState );
// propagate joint positions to kinematic chain
// SL-315
mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
// propagate current joint rotations to kinematic chain
mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
// connect the ikSolver to the chain
mIKSolver.setPoleVector( LLVector3( -1.0f, 1.0f, 0.0f ) );
// specifying the elbow's axis will prevent bad IK for the more
// singular configurations, but the axis is limb-specific -- Leviathan
mIKSolver.setBAxis( LLVector3( -0.682683f, 0.0f, -0.730714f ) );
mIKSolver.setupJoints( &mShoulderJoint, &mElbowJoint, &mWristJoint, &mTarget );
return STATUS_SUCCESS;
}
//-----------------------------------------------------------------------------
// LLEditingMotion::onActivate()
//-----------------------------------------------------------------------------
BOOL LLEditingMotion::onActivate()
{
// propagate joint positions to kinematic chain
// SL-315
mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
// propagate current joint rotations to kinematic chain
mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
return true;
}
//-----------------------------------------------------------------------------
// LLEditingMotion::onUpdate()
//-----------------------------------------------------------------------------
BOOL LLEditingMotion::onUpdate(F32 time, U8* joint_mask)
{
LL_PROFILE_ZONE_SCOPED;
LLVector3 focus_pt;
LLVector3* pointAtPt = (LLVector3*)mCharacter->getAnimationData("PointAtPoint");
BOOL result = true;
if (!pointAtPt)
{
focus_pt = mLastSelectPt;
result = false;
}
else
{
focus_pt = *pointAtPt;
mLastSelectPt = focus_pt;
}
focus_pt += mCharacter->getCharacterPosition();
// propagate joint positions to kinematic chain
// SL-315
mParentJoint.setPosition( mParentState->getJoint()->getWorldPosition() );
mShoulderJoint.setPosition( mShoulderState->getJoint()->getPosition() );
mElbowJoint.setPosition( mElbowState->getJoint()->getPosition() );
mWristJoint.setPosition( mWristState->getJoint()->getPosition() + mWristOffset );
// propagate current joint rotations to kinematic chain
mParentJoint.setRotation( mParentState->getJoint()->getWorldRotation() );
mShoulderJoint.setRotation( mShoulderState->getJoint()->getRotation() );
mElbowJoint.setRotation( mElbowState->getJoint()->getRotation() );
// update target position from character
LLVector3 target = focus_pt - mParentJoint.getPosition();
F32 target_dist = target.normVec();
LLVector3 edit_plane_normal(1.f / F_SQRT2, 1.f / F_SQRT2, 0.f);
edit_plane_normal.normVec();
edit_plane_normal.rotVec(mTorsoState->getJoint()->getWorldRotation());
F32 dot = edit_plane_normal * target;
if (dot < 0.f)
{
target = target + (edit_plane_normal * (dot * 2.f));
target.mV[VZ] += clamp_rescale(dot, 0.f, -1.f, 0.f, 5.f);
target.normVec();
}
target = target * target_dist;
if (!target.isFinite())
{
// Don't error out here, set a fail-safe target vector
LL_WARNS() << "Non finite target in editing motion with target distance of " << target_dist <<
" and focus point " << focus_pt << LL_ENDL;
target.setVec(1.f, 1.f, 1.f);
}
// SL-315
mTarget.setPosition( target + mParentJoint.getPosition());
// LL_INFOS() << "Point At: " << mTarget.getPosition() << LL_ENDL;
// update the ikSolver
if (!mTarget.getPosition().isExactlyZero())
{
LLQuaternion shoulderRot = mShoulderJoint.getRotation();
LLQuaternion elbowRot = mElbowJoint.getRotation();
mIKSolver.solve();
// use blending...
F32 slerp_amt = LLSmoothInterpolation::getInterpolant(TARGET_LAG_HALF_LIFE);
shoulderRot = slerp(slerp_amt, mShoulderJoint.getRotation(), shoulderRot);
elbowRot = slerp(slerp_amt, mElbowJoint.getRotation(), elbowRot);
// now put blended values back into joints
llassert(shoulderRot.isFinite());
llassert(elbowRot.isFinite());
mShoulderState->setRotation(shoulderRot);
mElbowState->setRotation(elbowRot);
mWristState->setRotation(LLQuaternion::DEFAULT);
}
mCharacter->setAnimationData("Hand Pose", &sHandPose);
mCharacter->setAnimationData("Hand Pose Priority", &sHandPosePriority);
return result;
}
//-----------------------------------------------------------------------------
// LLEditingMotion::onDeactivate()
//-----------------------------------------------------------------------------
void LLEditingMotion::onDeactivate()
{
}
// End
|
