path: root/indra/llcharacter/lljoint.h

/** 
 * @file lljoint.h
 * @brief Implementation of LLJoint 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
 * $/LicenseInfo$
 */

#ifndef LL_LLJOINT_H
#define LL_LLJOINT_H

//-----------------------------------------------------------------------------
// Header Files
//-----------------------------------------------------------------------------
#include <string>
#include <list>

#include "v3math.h"
#include "v4math.h"
#include "m4math.h"
#include "llquaternion.h"
#include "xform.h"

const S32 LL_CHARACTER_MAX_JOINTS_PER_MESH = 15;
// BENTO JOINT COUNT LIMIT - need to set this to final skeleton size
// (bones + attachments) + 2, rounded to next multiple of 4.
const U32 LL_CHARACTER_MAX_ANIMATED_JOINTS = 192; // must be divisible by 4!
const U32 LL_MAX_JOINTS_PER_MESH_OBJECT = 110;

// These should be higher than the joint_num of any
// other joint, to avoid conflicts in updateMotionsByType()
const U32 LL_HAND_JOINT_NUM = (LL_CHARACTER_MAX_ANIMATED_JOINTS-1);
const U32 LL_FACE_JOINT_NUM = (LL_CHARACTER_MAX_ANIMATED_JOINTS-2);
const S32 LL_CHARACTER_MAX_PRIORITY = 7;
const F32 LL_MAX_PELVIS_OFFSET = 5.f;

class LLPosOverrideMap
{
public:
	LLPosOverrideMap() {}
	bool findActiveOverride(LLUUID& mesh_id, LLVector3& pos) const;
	void showJointPosOverrides(std::ostringstream& os) const;
	U32 count() const;
	void add(const LLUUID& mesh_id, const LLVector3& pos);
	bool remove(const LLUUID& mesh_id);
	void clear();

	typedef std::map<LLUUID,LLVector3> map_type;
    const map_type& getMap() const { return m_map; }
private:
	map_type m_map;
};

//-----------------------------------------------------------------------------
// class LLJoint
//-----------------------------------------------------------------------------
class LLJoint
{
public:
	// priority levels, from highest to lowest
	enum JointPriority
	{
		USE_MOTION_PRIORITY = -1,
		LOW_PRIORITY = 0,
		MEDIUM_PRIORITY,
		HIGH_PRIORITY,
		HIGHER_PRIORITY,
		HIGHEST_PRIORITY,
		ADDITIVE_PRIORITY = LL_CHARACTER_MAX_PRIORITY
	};

	enum DirtyFlags
	{
		MATRIX_DIRTY = 0x1 << 0,
		ROTATION_DIRTY = 0x1 << 1,
		POSITION_DIRTY = 0x1 << 2,
		ALL_DIRTY = 0x7
	};
public:
    enum SupportCategory
    {
        SUPPORT_BASE,
        SUPPORT_EXTENDED
    };
protected:
	std::string	mName;

	SupportCategory mSupport;

	// parent joint
	LLJoint	*mParent;

	// explicit transformation members
	LLXformMatrix		mXform;

	LLUUID				mId;

    LLVector3       mDefaultPosition;
    
public:
	U32				mDirtyFlags;
	BOOL			mUpdateXform;

	// describes the skin binding pose
	LLVector3		mSkinOffset;

    // Endpoint of the bone, if applicable. This is only relevant for
    // external programs like Blender, and for diagnostic display.
    LLVector3		mEnd;

	S32				mJointNum;

	// child joints
	typedef std::list<LLJoint*> child_list_t;
	child_list_t mChildren;

	// debug statics
	static S32		sNumTouches;
	static S32		sNumUpdates;
    typedef std::set<std::string> debug_joint_name_t;
    static debug_joint_name_t s_debugJointNames;
    static void setDebugJointNames(const debug_joint_name_t& names);
    static void setDebugJointNames(const std::string& names_string);

	LLPosOverrideMap m_attachmentOverrides;
	LLVector3 m_posBeforeOverrides;

	void updatePos(const std::string& av_info);

public:
	LLJoint();

    // Note: these joint_num constructors are a bad idea because there
    // are only a couple of places in the code where it is useful to
    // have a joint num for a joint (for joints that are used in
    // animations), and including them as part of the constructor then
    // forces us to maintain an alternate path through the entire
    // large-ish class hierarchy of joint types. The only reason they
    // are still here now is to avoid breaking the baking service
    // (appearanceutility) builds; these constructors are not used in
    // the viewer.  Once the appearance utility is updated to remove
    // these joint num references, which it shouldn't ever need, from
    // its own classes, we can also remove all the joint_num
    // constructors from LLJoint, LLViewerJoint, LLAvatarJoint, and
    // createAvatarJoint.
    LLJoint(S32 joint_num);
    
	// *TODO: Only used for LLVOAvatarSelf::mScreenp.  *DOES NOT INITIALIZE mResetAfterRestoreOldXform*
	LLJoint( const std::string &name, LLJoint *parent=NULL );
	virtual ~LLJoint();

private:
	void init();

public:
	// set name and parent
	void setup( const std::string &name, LLJoint *parent=NULL );

	void touch(U32 flags = ALL_DIRTY);

	// get/set name
	const std::string& getName() const { return mName; }
	void setName( const std::string &name ) { mName = name; }

    // joint num
	S32 getJointNum() const { return mJointNum; }
	void setJointNum(S32 joint_num);

    // get/set support
    SupportCategory getSupport() const { return mSupport; }
    void setSupport( const SupportCategory& support) { mSupport = support; }
    void setSupport( const std::string& support_string);

    // get/set end point
    void setEnd( const LLVector3& end) { mEnd = end; }
    const LLVector3& getEnd() const { return mEnd; }
    
	// getParent
	LLJoint *getParent() { return mParent; }

	// getRoot
	LLJoint *getRoot();

	// search for child joints by name
	LLJoint *findJoint( const std::string &name );

	// add/remove children
	void addChild( LLJoint *joint );
	void removeChild( LLJoint *joint );
	void removeAllChildren();

	// get/set local position
	const LLVector3& getPosition();
	void setPosition( const LLVector3& pos, bool apply_attachment_overrides = false );

    // Tracks the default position defined by the skeleton
	void setDefaultPosition( const LLVector3& pos );
	const LLVector3& getDefaultPosition() const;

	// get/set world position
	LLVector3 getWorldPosition();
	LLVector3 getLastWorldPosition();
	void setWorldPosition( const LLVector3& pos );

	// get/set local rotation
	const LLQuaternion& getRotation();
	void setRotation( const LLQuaternion& rot );

	// get/set world rotation
	LLQuaternion getWorldRotation();
	LLQuaternion getLastWorldRotation();
	void setWorldRotation( const LLQuaternion& rot );

	// get/set local scale
	const LLVector3& getScale();
	void setScale( const LLVector3& scale );

	// get/set world matrix
	const LLMatrix4 &getWorldMatrix();
	void setWorldMatrix( const LLMatrix4& mat );

	void updateWorldMatrixChildren();
	void updateWorldMatrixParent();

	void updateWorldPRSParent();

	void updateWorldMatrix();

	// get/set skin offset
	const LLVector3 &getSkinOffset();
	void setSkinOffset( const LLVector3 &offset);

	LLXformMatrix	*getXform() { return &mXform; }

	void clampRotation(LLQuaternion old_rot, LLQuaternion new_rot);

	virtual BOOL isAnimatable() const { return TRUE; }

	void addAttachmentPosOverride( const LLVector3& pos, const LLUUID& mesh_id, const std::string& av_info );
	void removeAttachmentPosOverride( const LLUUID& mesh_id, const std::string& av_info );
	bool hasAttachmentPosOverride( LLVector3& pos, LLUUID& mesh_id ) const;
	void clearAttachmentPosOverrides();
    void showAttachmentPosOverrides(const std::string& av_info) const;

	//Accessor for the joint id
	LLUUID getId( void ) { return mId; }
	//Setter for the joints id
	void setId( const LLUUID& id ) { mId = id;}
};
#endif // LL_LLJOINT_H