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-rw-r--r--src/Skeleton.cpp817
1 files changed, 817 insertions, 0 deletions
diff --git a/src/Skeleton.cpp b/src/Skeleton.cpp
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+++ b/src/Skeleton.cpp
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+/**> 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;
+}
+
generated by cgit v1.2.3 (git 2.25.1) at 2026-01-15 18:10:11 +0000