Initial CIkChain implementation

Runtime/Character/CAnimData.hpp

@@ -216,9 +216,9 @@ public:
     CSegId GetLocatorSegId(const std::string& name) const;
     zeus::CAABox GetBoundingBox(const zeus::CTransform& xf) const;
     zeus::CAABox GetBoundingBox() const;
-
     static void FreeCache();
     static void InitializeCache();
+    const CHierarchyPoseBuilder& GetPoseBuilder() const { return x2fc_poseBuilder; }
     const CParticleDatabase& GetParticleDB() const { return x120_particleDB; }
 };
 

Runtime/Character/CHierarchyPoseBuilder.cpp

@@ -40,7 +40,7 @@ void CHierarchyPoseBuilder::RecursivelyBuildNoScale(const CSegId& boneId, const
     if (x0_layoutDesc.GetScaledLayoutDescription())
     {
         const CLayoutDescription::CScaledLayoutDescription& desc = *x0_layoutDesc.GetScaledLayoutDescription();
-        bindOffset = desc.GetCharLayoutInfo()->GetFromRootUnrotated(boneId);
+        bindOffset = desc.ScaledLayout()->GetFromRootUnrotated(boneId);
     }
     else
         bindOffset = x0_layoutDesc.GetCharLayoutInfo()->GetFromRootUnrotated(boneId);
@@ -70,8 +70,8 @@ void CHierarchyPoseBuilder::RecursivelyBuild(const CSegId& boneId, const CTreeNo
     if (x0_layoutDesc.GetScaledLayoutDescription())
     {
         const CLayoutDescription::CScaledLayoutDescription& desc = *x0_layoutDesc.GetScaledLayoutDescription();
-        scale = desc.GetScale();
+        scale = desc.GlobalScale();
-        bindOffset = desc.GetCharLayoutInfo()->GetFromRootUnrotated(boneId);
+        bindOffset = desc.ScaledLayout()->GetFromRootUnrotated(boneId);
     }
     else
     {
@@ -103,8 +103,8 @@ void CHierarchyPoseBuilder::BuildTransform(const CSegId& boneId, zeus::CTransfor
     float scale;
     if (x0_layoutDesc.GetScaledLayoutDescription())
     {
-        layoutInfoTok = x0_layoutDesc.GetScaledLayoutDescription()->GetCharLayoutInfo();
+        layoutInfoTok = x0_layoutDesc.GetScaledLayoutDescription()->ScaledLayout();
-        scale = x0_layoutDesc.GetScaledLayoutDescription()->GetScale();
+        scale = x0_layoutDesc.GetScaledLayoutDescription()->GlobalScale();
     }
     else
     {
@@ -171,7 +171,7 @@ CHierarchyPoseBuilder::CHierarchyPoseBuilder(const CLayoutDescription& layout)
 {
     TLockedToken<CCharLayoutInfo> layoutInfoTok;
     if (layout.GetScaledLayoutDescription())
-        layoutInfoTok = layout.GetScaledLayoutDescription()->GetCharLayoutInfo();
+        layoutInfoTok = layout.GetScaledLayoutDescription()->ScaledLayout();
     else
         layoutInfoTok = layout.GetCharLayoutInfo();
     const CCharLayoutInfo& layoutInfo = *layoutInfoTok.GetObj();

Runtime/Character/CHierarchyPoseBuilder.hpp

@@ -46,6 +46,7 @@ class CHierarchyPoseBuilder
 public:
     CHierarchyPoseBuilder(const CLayoutDescription& layout);
 
+    const TLockedToken<CCharLayoutInfo> CharLayoutInfo() const { return x0_layoutDesc.ScaledLayout(); }
     bool HasRoot() const { return xcf0_hasRoot; }
     void BuildTransform(const CSegId& boneId, zeus::CTransform& xfOut) const;
     void BuildNoScale(CPoseAsTransforms& pose);

Runtime/Character/CIkChain.cpp

@@ -0,0 +1,53 @@
+#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;
+}
+}

Runtime/Character/CIkChain.hpp

@@ -0,0 +1,47 @@
+#ifndef __URDE_CIKCHAIN_HPP__
+#define __URDE_CIKCHAIN_HPP__
+
+#include "RetroTypes.hpp"
+#include "zeus/CTransform.hpp"
+#include "zeus/CVector3f.hpp"
+#include "zeus/CQuaternion.hpp"
+#include "Character/CSegId.hpp"
+
+namespace urde
+{
+class CAnimData;
+class CSegId;
+class CIkChain
+{
+    CSegId x0_;
+    CSegId x1_;
+    CSegId x2_;
+    zeus::CVector3f x4_;
+    zeus::CVector3f x10_;
+    float x1c_;
+    float x20_;
+    zeus::CQuaternion x24_;
+    zeus::CVector3f x34_;
+    float x40_time = 0.f;
+
+    union
+    {
+        struct
+        {
+            bool x44_24_activated : 1;
+        };
+        u8 x44_dummy = 0;
+    };
+public:
+    CIkChain() = default;
+
+    bool GetActive() const;
+    void Update(float);
+    void Deactivate();
+    void Activate(const CAnimData&, const CSegId&, const zeus::CTransform&);
+    void PreRender(CAnimData&, const zeus::CTransform&, const zeus::CVector3f&);
+    void Solve(zeus::CQuaternion&, zeus::CQuaternion&, const zeus::CVector3f&);
+};
+}
+
+#endif // __URDE_CIKCHAIN_HPP__

Runtime/Character/CLayoutDescription.hpp

@@ -18,8 +18,8 @@ public:
         float xc_scale;
         std::experimental::optional<zeus::CVector3f> x10_scaleVec;
     public:
-        const TLockedToken<CCharLayoutInfo>& GetCharLayoutInfo() const {return x0_layoutToken;}
+        const TLockedToken<CCharLayoutInfo>& ScaledLayout() const {return x0_layoutToken;}
-        float GetScale() const {return xc_scale;}
+        float GlobalScale() const {return xc_scale;}
         const std::experimental::optional<zeus::CVector3f>& GetScaleVec() const {return x10_scaleVec;}
     };
 private:
@@ -33,6 +33,13 @@ public:
     GetScaledLayoutDescription() const {return xc_scaled;}
 
     const TLockedToken<CCharLayoutInfo>& GetCharLayoutInfo() const {return x0_layoutToken;}
+    bool UsesScale() const { return bool(xc_scaled); }
+    const TLockedToken<CCharLayoutInfo>& ScaledLayout() const
+    {
+        if (UsesScale())
+            return xc_scaled->ScaledLayout();
+        return x0_layoutToken;
+    }
 };
 
 }

Runtime/Character/CMakeLists.txt

@@ -22,6 +22,7 @@ set(CHARACTER_SOURCES
     CSegIdList.hpp CSegIdList.cpp
     CSegId.hpp CSegId.cpp
     TSegIdMap.hpp
+    CIkChain.hpp CIkChain.cpp
     CSkinRules.hpp CSkinRules.cpp
     CAnimCharacterSet.hpp CAnimCharacterSet.cpp
     CAnimationSet.hpp CAnimationSet.cpp

Runtime/Character/CharacterCommon.hpp

@@ -89,8 +89,9 @@ enum class ECoverDirection
 
 enum class EBodyType
 {
+    Zero,
     One,
-    Two = 2,
+    Two,
     Three
 };
 enum class EBodyStateCmd

Runtime/World/ScriptObjectSupport.hpp

@@ -177,7 +177,7 @@ enum class EScriptObjectState
 enum class EScriptObjectMessage
 {
     None              = -1,
-    UNKM1             = 0,
+    UNKM0             = 0,
     Activate          = 1,
     UNKM2             = 2,
     Close             = 3,
@@ -195,7 +195,7 @@ enum class EScriptObjectMessage
     Stop              = 15,
     StopAndReset      = 16,
     ToggleActive      = 17,
-    UNKM3             = 18,
+    UNKM18            = 18,
     Action            = 19,
     Play              = 20,
     Alert             = 21,