IK.h (5495B)
1 /* 2 =========================================================================== 3 4 Doom 3 BFG Edition GPL Source Code 5 Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company. 6 7 This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code"). 8 9 Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify 10 it under the terms of the GNU General Public License as published by 11 the Free Software Foundation, either version 3 of the License, or 12 (at your option) any later version. 13 14 Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful, 15 but WITHOUT ANY WARRANTY; without even the implied warranty of 16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 17 GNU General Public License for more details. 18 19 You should have received a copy of the GNU General Public License 20 along with Doom 3 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>. 21 22 In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below. 23 24 If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA. 25 26 =========================================================================== 27 */ 28 29 #ifndef __GAME_IK_H__ 30 #define __GAME_IK_H__ 31 32 /* 33 =============================================================================== 34 35 IK base class with a simple fast two bone solver. 36 37 =============================================================================== 38 */ 39 40 #define IK_ANIM "ik_pose" 41 42 class idIK { 43 public: 44 idIK(); 45 virtual ~idIK(); 46 47 void Save( idSaveGame *savefile ) const; 48 void Restore( idRestoreGame *savefile ); 49 50 bool IsInitialized() const; 51 52 virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset ); 53 virtual void Evaluate(); 54 virtual void ClearJointMods(); 55 56 bool SolveTwoBones( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, float len0, float len1, idVec3 &jointPos ); 57 float GetBoneAxis( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, idMat3 &axis ); 58 59 protected: 60 bool initialized; 61 bool ik_activate; 62 idEntity * self; // entity using the animated model 63 idAnimator * animator; // animator on entity 64 int modifiedAnim; // animation modified by the IK 65 idVec3 modelOffset; 66 }; 67 68 69 /* 70 =============================================================================== 71 72 IK controller for a walking character with an arbitrary number of legs. 73 74 =============================================================================== 75 */ 76 77 class idIK_Walk : public idIK { 78 public: 79 80 idIK_Walk(); 81 virtual ~idIK_Walk(); 82 83 void Save( idSaveGame *savefile ) const; 84 void Restore( idRestoreGame *savefile ); 85 86 virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset ); 87 virtual void Evaluate(); 88 virtual void ClearJointMods(); 89 90 void EnableAll(); 91 void DisableAll(); 92 void EnableLeg( int num ); 93 void DisableLeg( int num ); 94 95 private: 96 static const int MAX_LEGS = 8; 97 98 idClipModel * footModel; 99 100 int numLegs; 101 int enabledLegs; 102 jointHandle_t footJoints[MAX_LEGS]; 103 jointHandle_t ankleJoints[MAX_LEGS]; 104 jointHandle_t kneeJoints[MAX_LEGS]; 105 jointHandle_t hipJoints[MAX_LEGS]; 106 jointHandle_t dirJoints[MAX_LEGS]; 107 jointHandle_t waistJoint; 108 109 idVec3 hipForward[MAX_LEGS]; 110 idVec3 kneeForward[MAX_LEGS]; 111 112 float upperLegLength[MAX_LEGS]; 113 float lowerLegLength[MAX_LEGS]; 114 115 idMat3 upperLegToHipJoint[MAX_LEGS]; 116 idMat3 lowerLegToKneeJoint[MAX_LEGS]; 117 118 float smoothing; 119 float waistSmoothing; 120 float footShift; 121 float waistShift; 122 float minWaistFloorDist; 123 float minWaistAnkleDist; 124 float footUpTrace; 125 float footDownTrace; 126 bool tiltWaist; 127 bool usePivot; 128 129 // state 130 int pivotFoot; 131 float pivotYaw; 132 idVec3 pivotPos; 133 bool oldHeightsValid; 134 float oldWaistHeight; 135 float oldAnkleHeights[MAX_LEGS]; 136 idVec3 waistOffset; 137 }; 138 139 140 /* 141 =============================================================================== 142 143 IK controller for reaching a position with an arm or leg. 144 145 =============================================================================== 146 */ 147 148 class idIK_Reach : public idIK { 149 public: 150 151 idIK_Reach(); 152 virtual ~idIK_Reach(); 153 154 void Save( idSaveGame *savefile ) const; 155 void Restore( idRestoreGame *savefile ); 156 157 virtual bool Init( idEntity *self, const char *anim, const idVec3 &modelOffset ); 158 virtual void Evaluate(); 159 virtual void ClearJointMods(); 160 161 private: 162 163 static const int MAX_ARMS = 2; 164 165 int numArms; 166 int enabledArms; 167 jointHandle_t handJoints[MAX_ARMS]; 168 jointHandle_t elbowJoints[MAX_ARMS]; 169 jointHandle_t shoulderJoints[MAX_ARMS]; 170 jointHandle_t dirJoints[MAX_ARMS]; 171 172 idVec3 shoulderForward[MAX_ARMS]; 173 idVec3 elbowForward[MAX_ARMS]; 174 175 float upperArmLength[MAX_ARMS]; 176 float lowerArmLength[MAX_ARMS]; 177 178 idMat3 upperArmToShoulderJoint[MAX_ARMS]; 179 idMat3 lowerArmToElbowJoint[MAX_ARMS]; 180 }; 181 182 #endif /* !__GAME_IK_H__ */