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Initial CIkChain implementation

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This commit is contained in:
Phillip Stephens
2017-01-07 19:36:24 -08:00
parent ef43c3319b
commit bf91bdc332
9 changed files with 122 additions and 12 deletions
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53
Runtime/Character/CIkChain.cpp Normal file
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#include "Character/CIkChain.hpp"
#include "Character/CAnimData.hpp"
namespace urde
{
void CIkChain::Update(float dt)
{
if (x44_24_activated)
x40_time = zeus::min(x40_time + dt, 1.f);
else
x40_time = zeus::max(0.f, x40_time - dt);
}
void CIkChain::Deactivate()
{
x44_24_activated = false;
}
void CIkChain::Activate(const CAnimData& animData, const CSegId& segId, const zeus::CTransform& xf)
{
const CHierarchyPoseBuilder& posBuilder = animData.GetPoseBuilder();
x0_ = segId;
const TLockedToken<CCharLayoutInfo>& info = posBuilder.CharLayoutInfo();
}
void CIkChain::Solve(zeus::CQuaternion& q1, zeus::CQuaternion& q2, const zeus::CVector3f& vec)
{
const float mag = vec.magnitude();
const float magSq = mag * mag;
const float twoMag = (2.0f * mag);
float f29 = std::acos(zeus::clamp(-1.f, (((x20_ * magSq) + x20_) - (x1c_ * x1c_)) / (twoMag * x20_), 1.f));
float f30 = std::acos(zeus::clamp(-1.f, ((x1c_ * (magSq - (x20_ * x20_))) + x1c_) / (twoMag * x1c_), 1.f));
zeus::CVector3f vecA = q2.transform(x10_);
zeus::CVector3f crossVecA = x4_.cross(vecA);
float crossAMag = crossVecA.magnitude();
crossVecA *= (1.f / crossVecA.magnitude());
float angle = std::asin(zeus::min(crossAMag, 1.f));
if (x4_.dot(vecA) < 0.f)
angle = M_PIF - angle;
q2 = zeus::CQuaternion::fromAxisAngle(crossVecA, (f30 + f29) - angle) * q2;
zeus::CVector3f v1 = q1.transform((x1c_ * x4_) + (x20_ * q2.transform(x10_)));
zeus::CVector3f v2 = q1.transform(vec);
zeus::CVector3f crossVecB = v1.normalized().cross((1.f / mag) * v2);
angle = std::asin(zeus::min(crossVecB.magnitude(), 1.f));
if (v1.dot((1.f / mag) * v2) < 0.f)
angle = M_PIF - angle;
q1 = zeus::CQuaternion::fromAxisAngle(crossVecB * (1.f / crossVecB.magnitude()), angle) * q1;
}
}