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Diffstat (limited to 'src/Skeleton.cpp')
| -rw-r--r-- | src/Skeleton.cpp | 817 |
1 files changed, 817 insertions, 0 deletions
diff --git a/src/Skeleton.cpp b/src/Skeleton.cpp new file mode 100644 index 0000000..5f1880f --- /dev/null +++ b/src/Skeleton.cpp @@ -0,0 +1,817 @@ +/**> HEADER FILES <**/ +#include "Skeleton.h" + +#include "Serialize.h" + +extern double multiplier; +extern unsigned int gSourceID[100]; +extern unsigned int gSampleSet[100]; +extern int visions; +extern float rad2deg; +extern Camera camera; +extern float soundscalefactor; + +extern XYZ vel; +extern XYZ midp; +extern XYZ newpoint1,newpoint2; + +extern float oldlength; +extern float relaxlength; + +extern float friction; +extern int numrepeats; +extern float groundlevel; +extern float offset; +extern XYZ impact; +extern XYZ overpoint; +extern XYZ underpoint; +extern int whichtri; +extern XYZ normalrotated; +extern bool groundish; + + +void Joint::DoConstraint() +{ + + if(hasparent){ + //Find midpoint + midp=(position+parent->position)/2; + //Find vector from midpoint to second vector + vel=parent->position-midp; + //Change to unit vector + Normalise(&vel); + //Apply velocity change + velocity+=((midp-vel*length/2)-position); + parent->velocity+=((midp+vel*length/2)-parent->position); + //Move child point to within certain distance of parent point + if(!locked)position=midp-vel*length/2; + if(!parent->locked)parent->position=midp+vel*length/2; + } +} + +void Muscle::DoConstraint(int broken) +{ + oldlength=length; + relaxlength=findDistance(parent1->position,parent2->position); + + if(type==boneconnect)strength=1; + if(type==constraint)strength=0; + + if(strength<0)strength=0; + if(strength>1)strength=1; + + length-=(length-relaxlength)*(1-strength)*multiplier*multiplier*10000; + length-=(length-targetlength)*(strength)*multiplier*multiplier*10000; + if(strength==0)length=relaxlength; + + if((relaxlength-length>0&&relaxlength-oldlength<0)||(relaxlength-length<0&&relaxlength-oldlength>0))length=relaxlength; + + if(length<minlength)length=minlength; + if(length>maxlength&&!broken)length=maxlength; + + //Find midpoint + midp=(parent1->position+parent2->position)/2; + //Find vector from midpoint to second vector + vel=parent2->position-midp; + //Change to unit vector + Normalise(&vel); + //Apply velocity change + newpoint1=midp-vel*length/2; + newpoint2=midp+vel*length/2; + parent1->velocity+=(newpoint1-parent1->position); + parent2->velocity+=(newpoint2-parent2->position); + //Move child point to within certain distance of parent point + if(!parent1->locked)parent1->position=newpoint1; + if(!parent2->locked)parent2->position=newpoint2; +} + +void Skeleton::DoConstraints() +{ + numrepeats=3; + + for(int j=0; j<numrepeats; j++){ + for(int i=0; i<num_joints; i++){ + joints[i].DoConstraint(); + } + } +} + +void Skeleton::DoConstraints(Model *collide, XYZ *move, float rotation) +{ + friction=20; + numrepeats=2; + groundlevel=0; + + move->y+=.35; + + for(int j=0; j<numrepeats; j++){ + for(int i=0; i<num_joints; i++){ + if(joints[i].existing||i==jointlabels[lefthand]||i==jointlabels[righthand]){ + //Length constraints + joints[i].DoConstraint(); + //Ground constraint + offset=0; + overpoint=joints[i].position; + overpoint.y+=10; + underpoint=joints[i].position; + underpoint.y-=offset; + whichtri=collide->LineCheck2(overpoint,underpoint,&impact,*move,rotation); + if(collide->normals[whichtri].y<=.8)whichtri=collide->LineCheck2(joints[i].realoldposition,joints[i].position,&impact,*move,rotation); + if(joints[i].position.y<=groundlevel+offset||whichtri!=-1){ + if(whichtri==-1||(whichtri!=-1&&collide->normals[whichtri].y>.8)){ + if(whichtri==-1)joints[i].position.y=groundlevel+offset; + if(whichtri!=-1){ + joints[i].position=impact; + joints[i].position.y+=offset; + } + joints[i].velocity.y*=-.3; + joints[i].velocity.x*=.3; + joints[i].velocity.z*=.3; + } + offset=.2; + if(whichtri!=-1&&collide->normals[whichtri].y<=.8){ + normalrotated=DoRotation(collide->normals[whichtri],0,rotation,0); + joints[i].position=impact+normalrotated*offset; + ReflectVector(&joints[i].velocity,&normalrotated); + joints[i].velocity*=.3; + } + if(broken<=1){ + XYZ avgvelocity; + avgvelocity=0; + float gLoc[3]; + ALint tempint; + for(int k=0; k<num_joints; k++){ + avgvelocity+=joints[k].velocity; + } + avgvelocity/=num_joints; + if(joints[i].label==head&&(findLengthfast(joints[i].velocity)>2||findLengthfast(avgvelocity)>2)){ + avgvelocity+=joints[i].velocity; + gLoc[0]=joints[i].position.x/soundscalefactor; + gLoc[1]=joints[i].position.y/soundscalefactor; + gLoc[2]=joints[i].position.z/soundscalefactor; +#ifdef DEBIAN_NEEDS_TO_UPDATE_THEIR_OPENAL + alGetSourceiv(gSourceID[headlandsound], AL_SOURCE_STATE, &tempint); +#else + alGetSourcei(gSourceID[headlandsound], AL_SOURCE_STATE, &tempint); +#endif + if (tempint != AL_PLAYING){ + alSourcef(gSourceID[headlandsound], AL_MIN_GAIN, ALfloat(findLengthfast(avgvelocity)*2/findDistancefast(joints[i].position,camera.position)*soundscalefactor*2)); + alSourcef(gSourceID[headlandsound], AL_MAX_GAIN, ALfloat(findLengthfast(avgvelocity)*2/findDistancefast(joints[i].position,camera.position)*soundscalefactor*2)); + alSourcefv(gSourceID[headlandsound], AL_POSITION, gLoc); + alSourcePlay(gSourceID[headlandsound]);} + } + avgvelocity=0; + for(int k=0; k<num_joints; k++){ + avgvelocity+=joints[k].velocity; + } + avgvelocity/=num_joints; + if((joints[i].label==abdomen)&&(findLengthfast(joints[i].velocity)>2||findLengthfast(avgvelocity)>2)){ + avgvelocity+=joints[i].velocity; + gLoc[0]=joints[i].position.x/soundscalefactor; + gLoc[1]=joints[i].position.y/soundscalefactor; + gLoc[2]=joints[i].position.z/soundscalefactor; +#ifdef DEBIAN_NEEDS_TO_UPDATE_THEIR_OPENAL + alGetSourceiv(gSourceID[bodylandsound], AL_SOURCE_STATE, &tempint); +#else + alGetSourcei(gSourceID[bodylandsound], AL_SOURCE_STATE, &tempint); +#endif + if (tempint != AL_PLAYING){ + alSourcef(gSourceID[bodylandsound], AL_MIN_GAIN, ALfloat(findLengthfast(joints[i].velocity)*1/findDistancefast(joints[i].position,camera.position)*soundscalefactor*2)); + alSourcef(gSourceID[bodylandsound], AL_MAX_GAIN, ALfloat(findLengthfast(joints[i].velocity)*1/findDistancefast(joints[i].position,camera.position)*soundscalefactor*2)); + alSourcefv(gSourceID[bodylandsound], AL_POSITION, gLoc); + alSourcePlay(gSourceID[bodylandsound]);} + } + } + }} + } + if(num_muscles) + for(int i=0; i<num_muscles; i++){ + //Length constraints + muscles[i].DoConstraint(broken); + } + } + + for(int i=0; i<num_joints; i++){ + joints[i].realoldposition=joints[i].position; + } + + //Add velocity + for(int i=0; i<num_joints; i++){ + if(joints[i].existing||i==jointlabels[lefthand]||i==jointlabels[righthand])joints[i].position=joints[i].position+joints[i].velocity*multiplier; + } +} + +void Skeleton::DoGravity() +{ + for(int i=0; i<num_joints; i++){ + joints[i].velocity.y+=gravity*multiplier; + } +} + +void Skeleton::Draw(int muscleview) +{ + float jointcolor[4]; + + if(muscleview!=2){ + jointcolor[0]=0; + jointcolor[1]=0; + jointcolor[2]=.5; + jointcolor[3]=1; + } + + if(muscleview==2){ + jointcolor[0]=0; + jointcolor[1]=0; + jointcolor[2]=0; + jointcolor[3]=.5; + } + //Calc motionblur-ness + for(int i=0; i<num_joints; i++){ + joints[i].oldposition=joints[i].position; + joints[i].blurred=findDistance(joints[i].position,joints[i].oldposition)*100; + if(joints[i].blurred<1)joints[i].blurred=1; + } + + //Do Motionblur + glDepthMask(0); + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA); + glBegin(GL_QUADS); + for(int i=0; i<num_joints; i++){ + if(joints[i].hasparent){ + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/joints[i].blurred); + glVertex3f(joints[i].position.x,joints[i].position.y,joints[i].position.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/joints[i].parent->blurred); + glVertex3f(joints[i].parent->position.x,joints[i].parent->position.y,joints[i].parent->position.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/joints[i].parent->blurred); + glVertex3f(joints[i].parent->oldposition.x,joints[i].parent->oldposition.y,joints[i].parent->oldposition.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/joints[i].blurred); + glVertex3f(joints[i].oldposition.x,joints[i].oldposition.y,joints[i].oldposition.z); + } + } + for(int i=0; i<num_muscles; i++){ + if(muscles[i].type==boneconnect){ + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/muscles[i].parent2->blurred); + glVertex3f(muscles[i].parent1->position.x,muscles[i].parent1->position.y,muscles[i].parent1->position.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/muscles[i].parent2->blurred); + glVertex3f(muscles[i].parent2->position.x,muscles[i].parent2->position.y,muscles[i].parent2->position.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/muscles[i].parent2->blurred); + glVertex3f(muscles[i].parent2->oldposition.x,muscles[i].parent2->oldposition.y,muscles[i].parent2->oldposition.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/muscles[i].parent1->blurred); + glVertex3f(muscles[i].parent1->oldposition.x,muscles[i].parent1->oldposition.y,muscles[i].parent1->oldposition.z); + } + } + glEnd(); + + glBegin(GL_LINES); + for(int i=0; i<num_joints; i++){ + if(joints[i].hasparent){ + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/joints[i].blurred); + glVertex3f(joints[i].position.x,joints[i].position.y,joints[i].position.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/joints[i].parent->blurred); + glVertex3f(joints[i].parent->position.x,joints[i].parent->position.y,joints[i].parent->position.z); + } + } + for(int i=0; i<num_muscles; i++){ + if(muscles[i].type==boneconnect){ + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/muscles[i].parent1->blurred); + glVertex3f(muscles[i].parent1->position.x,muscles[i].parent1->position.y,muscles[i].parent1->position.z); + glColor4f(jointcolor[0],jointcolor[1],jointcolor[2],jointcolor[3]/muscles[i].parent2->blurred); + glVertex3f(muscles[i].parent2->position.x,muscles[i].parent2->position.y,muscles[i].parent2->position.z); + } + } + glColor3f(.6,.6,0); + if(muscleview==1) + for(int i=0; i<num_muscles; i++){ + if(muscles[i].type!=boneconnect){ + glVertex3f(muscles[i].parent1->position.x,muscles[i].parent1->position.y,muscles[i].parent1->position.z); + glVertex3f(muscles[i].parent2->position.x,muscles[i].parent2->position.y,muscles[i].parent2->position.z); + } + } + glEnd(); + + if(muscleview!=2){ + glPointSize(3); + glBegin(GL_POINTS); + for(int i=0; i<num_joints; i++){ + if(i!=selected)glColor4f(0,0,.5,1); + if(i==selected)glColor4f(1,1,0,1); + if(joints[i].locked&&i!=selected)glColor4f(1,0,0,1); + glVertex3f(joints[i].position.x,joints[i].position.y,joints[i].position.z); + } + glEnd(); + } + + //Set old position to current position + if(muscleview==2) + for(int i=0; i<num_joints; i++){ + joints[i].oldposition=joints[i].position; + } + glDepthMask(1); +} + +void Skeleton::AddJoint(float x, float y, float z, int which) +{ + if(num_joints<max_joints-1){ + joints[num_joints].velocity=0; + joints[num_joints].position.x=x; + joints[num_joints].position.y=y; + joints[num_joints].position.z=z; + joints[num_joints].locked=0; + + if(which>=num_joints||which<0)joints[num_joints].hasparent=0; + if(which<num_joints&&which>=0){ + joints[num_joints].parent=&joints[which]; + joints[num_joints].hasparent=1; + joints[num_joints].length=findDistance(joints[num_joints].position,joints[num_joints].parent->position); + } + num_joints++; + } +} + +void Skeleton::DeleteJoint(int whichjoint) +{ + if(whichjoint<num_joints&&whichjoint>=0){ + for(int i=0;i<num_muscles;i++){ + while(muscles[i].parent1==&joints[whichjoint]&&i<num_muscles)DeleteMuscle(i); + while(muscles[i].parent2==&joints[whichjoint]&&i<num_muscles)DeleteMuscle(i); + } + for(int i=0;i<num_joints;i++){ + if(joints[i].parent==&joints[whichjoint])joints[i].hasparent=0; + } + joints[whichjoint].hasparent=0; + } +} + +void Skeleton::DeleteMuscle(int whichmuscle) +{ + if(whichmuscle<num_muscles){ + muscles[whichmuscle].minlength=muscles[num_muscles-1].minlength; + muscles[whichmuscle].maxlength=muscles[num_muscles-1].maxlength; + muscles[whichmuscle].strength=muscles[num_muscles-1].strength; + muscles[whichmuscle].parent1=muscles[num_muscles-1].parent1; + muscles[whichmuscle].parent2=muscles[num_muscles-1].parent2; + muscles[whichmuscle].length=muscles[num_muscles-1].length; + muscles[whichmuscle].visible=muscles[num_muscles-1].visible; + muscles[whichmuscle].type=muscles[num_muscles-1].type; + muscles[whichmuscle].targetlength=muscles[num_muscles-1].targetlength; + + num_muscles--; + } +} + +void Skeleton::SetJoint(float x, float y, float z, int which, int whichjoint) +{ + if(whichjoint<num_joints){ + joints[whichjoint].velocity=0; + joints[whichjoint].position.x=x; + joints[whichjoint].position.y=y; + joints[whichjoint].position.z=z; + + if(which>=num_joints||which<0)joints[whichjoint].hasparent=0; + if(which<num_joints&&which>=0){ + joints[whichjoint].parent=&joints[which]; + joints[whichjoint].hasparent=1; + joints[whichjoint].length=findDistance(joints[whichjoint].position,joints[whichjoint].parent->position); + } + } +} + +void Skeleton::AddMuscle(int attach1,int attach2,float minlength,float maxlength,int type) +{ + if(num_muscles<max_muscles-1&&attach1<num_joints&&attach1>=0&attach2<num_joints&&attach2>=0&&attach1!=attach2){ + muscles[num_muscles].parent1=&joints[attach1]; + muscles[num_muscles].parent2=&joints[attach2]; + muscles[num_muscles].length=findDistance(muscles[num_muscles].parent1->position,muscles[num_muscles].parent2->position); + muscles[num_muscles].targetlength=findDistance(muscles[num_muscles].parent1->position,muscles[num_muscles].parent2->position); + muscles[num_muscles].strength=.7; + muscles[num_muscles].type=type; + muscles[num_muscles].minlength=minlength; + muscles[num_muscles].maxlength=maxlength; + + num_muscles++; + } +} + +void Skeleton::MusclesSet() +{ + for(int i=0;i<num_muscles;i++){ + muscles[i].length=findDistance(muscles[i].parent1->position,muscles[i].parent2->position); + } +} + +void Skeleton::FindRotationJoint(int which) +{ + XYZ temppoint1,temppoint2,tempforward; + float distance; + + temppoint1=joints[which].position; + temppoint2=joints[which].parent->position; + distance=findDistance(temppoint1,temppoint2); + joints[which].rotate2=asin((temppoint1.y-temppoint2.y)/distance)*rad2deg; + temppoint1.y=0; + temppoint2.y=0; + joints[which].rotate1=acos((temppoint1.z-temppoint2.z)/findDistance(temppoint1,temppoint2))*rad2deg; + if(temppoint1.x>temppoint2.x)joints[which].rotate1=360-joints[which].rotate1; + if(joints[which].label==head)tempforward=specialforward[0]; + else if(joints[which].label==rightshoulder||joints[which].label==rightelbow||joints[which].label==rightwrist||joints[which].label==righthand)tempforward=specialforward[1]; + else if(joints[which].label==leftshoulder||joints[which].label==leftelbow||joints[which].label==leftwrist||joints[which].label==lefthand)tempforward=specialforward[2]; + else if(joints[which].label==righthip||joints[which].label==rightknee||joints[which].label==rightankle)tempforward=specialforward[3]; + else if(joints[which].label==lefthip||joints[which].label==leftknee||joints[which].label==leftankle)tempforward=specialforward[4]; + else if(!joints[which].lower)tempforward=forward; + else if(joints[which].lower)tempforward=lowforward; + tempforward=DoRotation(tempforward,0,joints[which].rotate1-90,0); + tempforward=DoRotation(tempforward,0,0,joints[which].rotate2-90); + tempforward.y=0; + Normalise(&tempforward); + joints[which].rotate3=acos(0-tempforward.z)*rad2deg; + if(0>tempforward.x)joints[which].rotate3=360-joints[which].rotate3; +} + +void Skeleton::FindRotationMuscle(int which) +{ + XYZ temppoint1,temppoint2,tempforward; + float distance; + + temppoint1=muscles[which].parent1->position; + temppoint2=muscles[which].parent2->position; + distance=findDistance(temppoint1,temppoint2); + muscles[which].rotate2=asin((temppoint1.y-temppoint2.y)/distance)*rad2deg; + temppoint1.y=0; + temppoint2.y=0; + muscles[which].rotate1=acos((temppoint1.z-temppoint2.z)/findDistance(temppoint1,temppoint2)); + muscles[which].rotate1*=360/6.28; + if(temppoint1.x>temppoint2.x)muscles[which].rotate1=360-muscles[which].rotate1; + if(muscles[which].parent1->label==head)tempforward=specialforward[0]; + else if(muscles[which].parent1->label==rightshoulder||muscles[which].parent1->label==rightelbow||muscles[which].parent1->label==rightwrist)tempforward=specialforward[1]; + else if(muscles[which].parent1->label==leftshoulder||muscles[which].parent1->label==leftelbow||muscles[which].parent1->label==leftwrist)tempforward=specialforward[2]; + else if(muscles[which].parent1->label==righthip||muscles[which].parent1->label==rightknee||muscles[which].parent1->label==rightankle)tempforward=specialforward[3]; + else if(muscles[which].parent1->label==lefthip||muscles[which].parent1->label==leftknee||muscles[which].parent1->label==leftankle)tempforward=specialforward[4]; + else if(!muscles[which].parent1->lower)tempforward=forward; + else if(muscles[which].parent1->lower)tempforward=lowforward; + tempforward=DoRotation(tempforward,0,muscles[which].rotate1-90,0); + tempforward=DoRotation(tempforward,0,0,muscles[which].rotate2-90); + tempforward.y=0; + Normalise(&tempforward); + muscles[which].rotate3=acos(0-tempforward.z)*rad2deg; + for(int i=0;i<num_joints;i++){ + if(&joints[i]==muscles[which].parent1){ + joints[i].rotate1=muscles[which].rotate1; + joints[i].rotate2=muscles[which].rotate2; + joints[i].rotate3=muscles[which].rotate3; + } + } + if(0>tempforward.x)muscles[which].rotate3=360-muscles[which].rotate3; +} + +extern Skeleton testskeleton; + +void Animation::Load(char *fileName) +{ + float placeholder[3]; + files.OpenFile((unsigned char*)fileName); + if(files.sFile){ + ReadInt(files.sFile, 1, &numframes); + for(int i=0;i<numframes;i++){ + for(int j=0;j<max_joints;j++){ + ReadXYZ(files.sFile, 1, &position[j][i]); + } + for(int j=0;j<max_joints;j++){ + ReadFloat(files.sFile, 1, &twist[j][i]); + } + for(int j=0;j<max_joints;j++){ + ReadBool(files.sFile, 1, &onground[j][i]); + } + ReadFloat(files.sFile, 1, &speed[i]); + ReadFloat(files.sFile, 1, &gunrotation[i]); + } + for(int i=0;i<numframes;i++){ + for(int j=0;j<max_joints;j++){ + ReadFloat(files.sFile, 1, &twist2[j][i]); + } + } + } + + files.EndLoad(); + + for(int j=0;j<numframes;j++){ + for(int i=0;i<testskeleton.num_joints;i++){ + testskeleton.joints[i].position=position[i][j]; + } + //Find forward vectors + CrossProduct(testskeleton.joints[testskeleton.forwardjoints[1]].position-testskeleton.joints[testskeleton.forwardjoints[0]].position,testskeleton.joints[testskeleton.forwardjoints[2]].position-testskeleton.joints[testskeleton.forwardjoints[0]].position,&testskeleton.forward); + Normalise(&testskeleton.forward); + + CrossProduct(testskeleton.joints[testskeleton.lowforwardjoints[1]].position-testskeleton.joints[testskeleton.lowforwardjoints[0]].position,testskeleton.joints[testskeleton.lowforwardjoints[2]].position-testskeleton.joints[testskeleton.lowforwardjoints[0]].position,&testskeleton.lowforward); + Normalise(&testskeleton.lowforward); + + //Special forwards + testskeleton.specialforward[0]=testskeleton.forward; + + testskeleton.specialforward[1]=testskeleton.joints[testskeleton.jointlabels[rightshoulder]].position+testskeleton.joints[testskeleton.jointlabels[rightwrist]].position; + testskeleton.specialforward[1]=testskeleton.joints[testskeleton.jointlabels[rightelbow]].position-testskeleton.specialforward[1]/2; + testskeleton.specialforward[1]+=testskeleton.forward*.2; + Normalise(&testskeleton.specialforward[1]); + testskeleton.specialforward[2]=testskeleton.joints[testskeleton.jointlabels[leftshoulder]].position+testskeleton.joints[testskeleton.jointlabels[leftwrist]].position; + testskeleton.specialforward[2]=testskeleton.joints[testskeleton.jointlabels[leftelbow]].position-testskeleton.specialforward[2]/2; + testskeleton.specialforward[2]+=testskeleton.forward*.2; + Normalise(&testskeleton.specialforward[2]); + + testskeleton.specialforward[3]=testskeleton.joints[testskeleton.jointlabels[righthip]].position+testskeleton.joints[testskeleton.jointlabels[rightankle]].position; + testskeleton.specialforward[3]=testskeleton.specialforward[3]/2-testskeleton.joints[testskeleton.jointlabels[rightknee]].position; + testskeleton.specialforward[3]+=testskeleton.lowforward*.2; + Normalise(&testskeleton.specialforward[3]); + testskeleton.specialforward[4]=testskeleton.joints[testskeleton.jointlabels[lefthip]].position+testskeleton.joints[testskeleton.jointlabels[leftankle]].position; + testskeleton.specialforward[4]=testskeleton.specialforward[4]/2-testskeleton.joints[testskeleton.jointlabels[leftknee]].position; + testskeleton.specialforward[4]+=testskeleton.lowforward*.2; + Normalise(&testskeleton.specialforward[4]); + + //Find joint rotations + for(int i=0;i<testskeleton.num_joints;i++){ + if(testskeleton.joints[i].hasparent&&testskeleton.joints[i].visible) + { + testskeleton.FindRotationJoint(i); + } + } + for(int i=0;i<testskeleton.num_muscles;i++){ + if(testskeleton.muscles[i].visible) + { + testskeleton.FindRotationMuscle(i); + } + } + for(int i=0;i<testskeleton.num_muscles;i++){ + if(testskeleton.muscles[i].visible) + { + mrotate1[i][j]=testskeleton.muscles[i].rotate1; + mrotate2[i][j]=testskeleton.muscles[i].rotate2; + mrotate3[i][j]=testskeleton.muscles[i].rotate3; + if(j!=0&&mrotate3[i][j]>mrotate3[i][j-1]+180)mrotate3[i][j]-=360; + if(j!=0&&mrotate3[i][j]<mrotate3[i][j-1]-180)mrotate3[i][j]+=360; + if(j!=0&&mrotate2[i][j]>mrotate2[i][j-1]+180)mrotate2[i][j]-=360; + if(j!=0&&mrotate2[i][j]<mrotate2[i][j-1]-180)mrotate2[i][j]+=360; + if(j!=0&&mrotate1[i][j]>mrotate1[i][j-1]+180)mrotate1[i][j]-=360; + if(j!=0&&mrotate1[i][j]<mrotate1[i][j-1]-180)mrotate1[i][j]+=360; + } + } + for(int i=0;i<testskeleton.num_joints;i++){ + if(testskeleton.joints[i].hasparent&&testskeleton.joints[i].visible) + { + rotate1[i][j]=testskeleton.joints[i].rotate1; + rotate2[i][j]=testskeleton.joints[i].rotate2; + rotate3[i][j]=testskeleton.joints[i].rotate3; + if(j!=0&&rotate3[i][j]>rotate3[i][j-1]+180)rotate3[i][j]-=360; + if(j!=0&&rotate3[i][j]<rotate3[i][j-1]-180)rotate3[i][j]+=360; + if(j!=0&&rotate2[i][j]>rotate2[i][j-1]+180)rotate2[i][j]-=360; + if(j!=0&&rotate2[i][j]<rotate2[i][j-1]-180)rotate2[i][j]+=360; + if(j!=0&&rotate1[i][j]>rotate1[i][j-1]+180)rotate1[i][j]-=360; + if(j!=0&&rotate1[i][j]<rotate1[i][j-1]-180)rotate1[i][j]+=360; + } + } + } + + for(int k=0;k<2;k++) + for(int j=0;j<numframes;j++){ + for(int i=0;i<testskeleton.num_muscles;i++){ + if(testskeleton.muscles[i].visible) + { + if(j!=0&&mrotate3[i][j]>mrotate3[i][j-1]+180)mrotate3[i][j]-=360; + if(j!=0&&mrotate3[i][j]<mrotate3[i][j-1]-180)mrotate3[i][j]+=360; + if(j!=0&&mrotate2[i][j]>mrotate2[i][j-1]+180)mrotate2[i][j]-=360; + if(j!=0&&mrotate2[i][j]<mrotate2[i][j-1]-180)mrotate2[i][j]+=360; + if(j!=0&&mrotate1[i][j]>mrotate1[i][j-1]+180)mrotate1[i][j]-=360; + if(j!=0&&mrotate1[i][j]<mrotate1[i][j-1]-180)mrotate1[i][j]+=360; + + if(j==0&&mrotate3[i][j]>mrotate3[i][numframes-1]+180)mrotate3[i][j]-=360; + if(j==0&&mrotate3[i][j]<mrotate3[i][numframes-1]-180)mrotate3[i][j]+=360; + if(j==0&&mrotate2[i][j]>mrotate2[i][numframes-1]+180)mrotate2[i][j]-=360; + if(j==0&&mrotate2[i][j]<mrotate2[i][numframes-1]-180)mrotate2[i][j]+=360; + if(j==0&&mrotate1[i][j]>mrotate1[i][numframes-1]+180)mrotate1[i][j]-=360; + if(j==0&&mrotate1[i][j]<mrotate1[i][numframes-1]-180)mrotate1[i][j]+=360; + } + } + for(int i=0;i<testskeleton.num_joints;i++){ + if(testskeleton.joints[i].hasparent&&testskeleton.joints[i].visible) + { + if(j!=0&&rotate3[i][j]>rotate3[i][j-1]+180)rotate3[i][j]-=360; + if(j!=0&&rotate3[i][j]<rotate3[i][j-1]-180)rotate3[i][j]+=360; + if(j!=0&&rotate2[i][j]>rotate2[i][j-1]+180)rotate2[i][j]-=360; + if(j!=0&&rotate2[i][j]<rotate2[i][j-1]-180)rotate2[i][j]+=360; + if(j!=0&&rotate1[i][j]>rotate1[i][j-1]+180)rotate1[i][j]-=360; + if(j!=0&&rotate1[i][j]<rotate1[i][j-1]-180)rotate1[i][j]+=360; + + if(j==0&&rotate3[i][j]>rotate3[i][numframes-1]+180)rotate3[i][j]-=360; + if(j==0&&rotate3[i][j]<rotate3[i][numframes-1]-180)rotate3[i][j]+=360; + if(j==0&&rotate2[i][j]>rotate2[i][numframes-1]+180)rotate2[i][j]-=360; + if(j==0&&rotate2[i][j]<rotate2[i][numframes-1]-180)rotate2[i][j]+=360; + if(j==0&&rotate1[i][j]>rotate1[i][numframes-1]+180)rotate1[i][j]-=360; + if(j==0&&rotate1[i][j]<rotate1[i][numframes-1]-180)rotate1[i][j]+=360; + } + } + } +} + +void Animation::Load(char *fileName, float rotate) +{ + float placeholder[3]; + files.OpenFile((unsigned char*)fileName); + if(files.sFile){ + ReadInt(files.sFile, 1, &numframes); + for(int i=0;i<numframes;i++){ + for(int j=0;j<max_joints;j++){ + ReadXYZ(files.sFile, 1, &position[j][i]); + position[j][i]=DoRotation(position[j][i],0,rotate,0); + } + for(int j=0;j<max_joints;j++){ + ReadFloat(files.sFile, 1, &twist[j][i]); + } + for(int j=0;j<max_joints;j++){ + ReadBool(files.sFile, 1, &onground[j][i]); + } + ReadFloat(files.sFile, 1, &speed[i]); + ReadFloat(files.sFile, 1, &gunrotation[i]); + } + for(int i=0;i<numframes;i++){ + for(int j=0;j<max_joints;j++){ + ReadFloat(files.sFile, 1, &twist2[j][i]); + } + } + } + files.EndLoad(); + + for(int j=0;j<numframes;j++){ + for(int i=0;i<testskeleton.num_joints;i++){ + testskeleton.joints[i].position=position[i][j]; + } + //Find forward vectors + CrossProduct(testskeleton.joints[testskeleton.forwardjoints[1]].position-testskeleton.joints[testskeleton.forwardjoints[0]].position,testskeleton.joints[testskeleton.forwardjoints[2]].position-testskeleton.joints[testskeleton.forwardjoints[0]].position,&testskeleton.forward); + Normalise(&testskeleton.forward); + + CrossProduct(testskeleton.joints[testskeleton.lowforwardjoints[1]].position-testskeleton.joints[testskeleton.lowforwardjoints[0]].position,testskeleton.joints[testskeleton.lowforwardjoints[2]].position-testskeleton.joints[testskeleton.lowforwardjoints[0]].position,&testskeleton.lowforward); + Normalise(&testskeleton.lowforward); + + //Special forwards + testskeleton.specialforward[0]=testskeleton.forward; + + testskeleton.specialforward[1]=testskeleton.joints[testskeleton.jointlabels[rightshoulder]].position+testskeleton.joints[testskeleton.jointlabels[rightwrist]].position; + testskeleton.specialforward[1]=testskeleton.joints[testskeleton.jointlabels[rightelbow]].position-testskeleton.specialforward[1]/2; + testskeleton.specialforward[1]+=testskeleton.forward*.2; + Normalise(&testskeleton.specialforward[1]); + testskeleton.specialforward[2]=testskeleton.joints[testskeleton.jointlabels[leftshoulder]].position+testskeleton.joints[testskeleton.jointlabels[leftwrist]].position; + testskeleton.specialforward[2]=testskeleton.joints[testskeleton.jointlabels[leftelbow]].position-testskeleton.specialforward[2]/2; + testskeleton.specialforward[2]+=testskeleton.forward*.2; + Normalise(&testskeleton.specialforward[2]); + + testskeleton.specialforward[3]=testskeleton.joints[testskeleton.jointlabels[righthip]].position+testskeleton.joints[testskeleton.jointlabels[rightankle]].position; + testskeleton.specialforward[3]=testskeleton.specialforward[3]/2-testskeleton.joints[testskeleton.jointlabels[rightknee]].position; + testskeleton.specialforward[3]+=testskeleton.lowforward*.2; + Normalise(&testskeleton.specialforward[3]); + testskeleton.specialforward[4]=testskeleton.joints[testskeleton.jointlabels[lefthip]].position+testskeleton.joints[testskeleton.jointlabels[leftankle]].position; + testskeleton.specialforward[4]=testskeleton.specialforward[4]/2-testskeleton.joints[testskeleton.jointlabels[leftknee]].position; + testskeleton.specialforward[4]+=testskeleton.lowforward*.2; + Normalise(&testskeleton.specialforward[4]); + + //Find joint rotations + for(int i=0;i<testskeleton.num_joints;i++){ + if(testskeleton.joints[i].hasparent&&testskeleton.joints[i].visible) + { + testskeleton.FindRotationJoint(i); + } + } + for(int i=0;i<testskeleton.num_muscles;i++){ + if(testskeleton.muscles[i].visible) + { + testskeleton.FindRotationMuscle(i); + } + } + for(int i=0;i<testskeleton.num_muscles;i++){ + if(testskeleton.muscles[i].visible) + { + mrotate1[i][j]=testskeleton.muscles[i].rotate1; + mrotate2[i][j]=testskeleton.muscles[i].rotate2; + mrotate3[i][j]=testskeleton.muscles[i].rotate3; + if(j!=0&&mrotate3[i][j]>mrotate3[i][j-1]+180)mrotate3[i][j]-=360; + if(j!=0&&mrotate3[i][j]<mrotate3[i][j-1]-180)mrotate3[i][j]+=360; + if(j!=0&&mrotate2[i][j]>mrotate2[i][j-1]+180)mrotate2[i][j]-=360; + if(j!=0&&mrotate2[i][j]<mrotate2[i][j-1]-180)mrotate2[i][j]+=360; + if(j!=0&&mrotate1[i][j]>mrotate1[i][j-1]+180)mrotate1[i][j]-=360; + if(j!=0&&mrotate1[i][j]<mrotate1[i][j-1]-180)mrotate1[i][j]+=360; + } + } + for(int i=0;i<testskeleton.num_joints;i++){ + if(testskeleton.joints[i].hasparent&&testskeleton.joints[i].visible) + { + rotate1[i][j]=testskeleton.joints[i].rotate1; + rotate2[i][j]=testskeleton.joints[i].rotate2; + rotate3[i][j]=testskeleton.joints[i].rotate3; + if(j!=0&&rotate3[i][j]>rotate3[i][j-1]+180)rotate3[i][j]-=360; + if(j!=0&&rotate3[i][j]<rotate3[i][j-1]-180)rotate3[i][j]+=360; + if(j!=0&&rotate2[i][j]>rotate2[i][j-1]+180)rotate2[i][j]-=360; + if(j!=0&&rotate2[i][j]<rotate2[i][j-1]-180)rotate2[i][j]+=360; + if(j!=0&&rotate1[i][j]>rotate1[i][j-1]+180)rotate1[i][j]-=360; + if(j!=0&&rotate1[i][j]<rotate1[i][j-1]-180)rotate1[i][j]+=360; + } + } + } + + for(int k=0;k<2;k++) + for(int j=0;j<numframes;j++){ + for(int i=0;i<testskeleton.num_muscles;i++){ + if(testskeleton.muscles[i].visible) + { + if(j!=0&&mrotate3[i][j]>mrotate3[i][j-1]+180)mrotate3[i][j]-=360; + if(j!=0&&mrotate3[i][j]<mrotate3[i][j-1]-180)mrotate3[i][j]+=360; + if(j!=0&&mrotate2[i][j]>mrotate2[i][j-1]+180)mrotate2[i][j]-=360; + if(j!=0&&mrotate2[i][j]<mrotate2[i][j-1]-180)mrotate2[i][j]+=360; + if(j!=0&&mrotate1[i][j]>mrotate1[i][j-1]+180)mrotate1[i][j]-=360; + if(j!=0&&mrotate1[i][j]<mrotate1[i][j-1]-180)mrotate1[i][j]+=360; + + if(j==0&&mrotate3[i][j]>mrotate3[i][numframes-1]+180)mrotate3[i][j]-=360; + if(j==0&&mrotate3[i][j]<mrotate3[i][numframes-1]-180)mrotate3[i][j]+=360; + if(j==0&&mrotate2[i][j]>mrotate2[i][numframes-1]+180)mrotate2[i][j]-=360; + if(j==0&&mrotate2[i][j]<mrotate2[i][numframes-1]-180)mrotate2[i][j]+=360; + if(j==0&&mrotate1[i][j]>mrotate1[i][numframes-1]+180)mrotate1[i][j]-=360; + if(j==0&&mrotate1[i][j]<mrotate1[i][numframes-1]-180)mrotate1[i][j]+=360; + } + } + for(int i=0;i<testskeleton.num_joints;i++){ + if(testskeleton.joints[i].hasparent&&testskeleton.joints[i].visible) + { + if(j!=0&&rotate3[i][j]>rotate3[i][j-1]+180)rotate3[i][j]-=360; + if(j!=0&&rotate3[i][j]<rotate3[i][j-1]-180)rotate3[i][j]+=360; + if(j!=0&&rotate2[i][j]>rotate2[i][j-1]+180)rotate2[i][j]-=360; + if(j!=0&&rotate2[i][j]<rotate2[i][j-1]-180)rotate2[i][j]+=360; + if(j!=0&&rotate1[i][j]>rotate1[i][j-1]+180)rotate1[i][j]-=360; + if(j!=0&&rotate1[i][j]<rotate1[i][j-1]-180)rotate1[i][j]+=360; + + if(j==0&&rotate3[i][j]>rotate3[i][numframes-1]+180)rotate3[i][j]-=360; + if(j==0&&rotate3[i][j]<rotate3[i][numframes-1]-180)rotate3[i][j]+=360; + if(j==0&&rotate2[i][j]>rotate2[i][numframes-1]+180)rotate2[i][j]-=360; + if(j==0&&rotate2[i][j]<rotate2[i][numframes-1]-180)rotate2[i][j]+=360; + if(j==0&&rotate1[i][j]>rotate1[i][numframes-1]+180)rotate1[i][j]-=360; + if(j==0&&rotate1[i][j]<rotate1[i][numframes-1]-180)rotate1[i][j]+=360; + } + } + } +} + +void Skeleton::Load(char *fileName) +{ + int parentID; + bool what; + bool lock; + float placeholder[3]; + files.OpenFile((unsigned char*)fileName); + if(files.sFile){ + ReadInt(files.sFile, 1, &num_joints); + for(int i=0;i<num_joints;i++){ + ReadXYZ(files.sFile, 1, &joints[i].position); + ReadFloat(files.sFile, 1, &joints[i].length); + ReadFloat(files.sFile, 1, &joints[i].mass); + ReadBool(files.sFile, 1, &joints[i].hasparent); + ReadBool(files.sFile, 1, &joints[i].locked); + ReadInt(files.sFile, 1, &joints[i].modelnum); + ReadBool(files.sFile, 1, &joints[i].visible); + ReadBool(files.sFile, 1, &what); + ReadInt(files.sFile, 1, &joints[i].label); + ReadInt(files.sFile, 1, &joints[i].hasgun); + ReadBool(files.sFile, 1, &joints[i].lower); + ReadInt(files.sFile, 1, &parentID); + if(joints[i].hasparent)joints[i].parent=&joints[parentID]; + joints[i].velocity=0; + joints[i].oldposition=joints[i].position; + joints[i].existing=1; + } + + ReadInt(files.sFile, 1, &num_muscles); + for(int i=0;i<num_muscles;i++){ + ReadFloat(files.sFile, 1, &muscles[i].length); + ReadFloat(files.sFile, 1, &muscles[i].targetlength); + ReadFloat(files.sFile, 1, &muscles[i].minlength); + ReadFloat(files.sFile, 1, &muscles[i].maxlength); + ReadFloat(files.sFile, 1, &muscles[i].strength); + ReadInt(files.sFile, 1, &muscles[i].type); + ReadBool(files.sFile, 1, &muscles[i].visible); + ReadInt(files.sFile, 1, &parentID); + muscles[i].parent1=&joints[parentID]; + ReadInt(files.sFile, 1, &parentID); + muscles[i].parent2=&joints[parentID]; + } + + for(int j=0;j<3;j++){ + ReadInt(files.sFile, 1, &forwardjoints[j]); + } + for(int j=0;j<3;j++){ + ReadInt(files.sFile, 1, &lowforwardjoints[j]); + } + } + files.EndLoad(); + + for(int i=0;i<num_joints;i++){ + for(int j=0;j<num_joints;j++){ + if(joints[i].label==j)jointlabels[j]=i; + } + } + + broken=0; +} + |