From e17acec1c9bec3a26d97ca2873bb77bdcb48665e Mon Sep 17 00:00:00 2001
From: icculus <icculus@5198baeb-e213-0410-be47-fc2ff85ca46f>
Date: Thu, 2 Jan 2003 21:06:00 +0000
Subject: Initial revision

git-svn-id: svn://svn.icculus.org/blackshades/trunk@2 5198baeb-e213-0410-be47-fc2ff85ca46f
---
 Source/Skeleton.cpp | 841 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 841 insertions(+)
 create mode 100644 Source/Skeleton.cpp

(limited to 'Source/Skeleton.cpp')

diff --git a/Source/Skeleton.cpp b/Source/Skeleton.cpp
new file mode 100644
index 0000000..041d07a
--- /dev/null
+++ b/Source/Skeleton.cpp
@@ -0,0 +1,841 @@
+/**> HEADER FILES <**/
+#include "Skeleton.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;
+					alGetSourcei(gSourceID[headlandsound], AL_SOURCE_STATE, &tempint);
+					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;
+					alGetSourcei(gSourceID[bodylandsound], AL_SOURCE_STATE, &tempint);
+					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){
+		files.lSize=sizeof(numframes);
+		FSRead( files.sFile, &files.lSize, &numframes);
+		for(int i=0;i<numframes;i++){
+			files.lSize=sizeof(XYZ);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &position[j][i]);
+			}
+			files.lSize=sizeof(float);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &twist[j][i]);
+			}
+			files.lSize=sizeof(bool);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &onground[j][i]);
+			}
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &speed[i]);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &gunrotation[i]);
+		}
+		for(int i=0;i<numframes;i++){
+			files.lSize=sizeof(float);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &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){
+		files.lSize=sizeof(numframes);
+		FSRead( files.sFile, &files.lSize, &numframes);
+		for(int i=0;i<numframes;i++){
+			files.lSize=sizeof(XYZ);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &position[j][i]);
+				position[j][i]=DoRotation(position[j][i],0,rotate,0);
+			}
+			files.lSize=sizeof(float);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &twist[j][i]);
+			}
+			files.lSize=sizeof(bool);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &onground[j][i]);
+			}
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &speed[i]);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &gunrotation[i]);
+		}
+		for(int i=0;i<numframes;i++){
+			files.lSize=sizeof(float);
+			for(int j=0;j<max_joints;j++){
+				FSRead( files.sFile, &files.lSize, &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;
+	int what;
+	bool lock;
+	float placeholder[3];
+	files.OpenFile((unsigned char*)fileName);
+	if(files.sFile){
+		files.lSize=sizeof(num_joints);
+		FSRead( files.sFile, &files.lSize, &num_joints);
+		for(int i=0;i<num_joints;i++){
+			files.lSize=sizeof(XYZ);
+			FSRead( files.sFile, &files.lSize, &joints[i].position);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &joints[i].length);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &joints[i].mass);
+			files.lSize=sizeof(bool);
+			FSRead( files.sFile, &files.lSize, &joints[i].hasparent);
+			files.lSize=sizeof(bool);
+			FSRead( files.sFile, &files.lSize, &joints[i].locked);
+			files.lSize=sizeof(int);
+			FSRead( files.sFile, &files.lSize, &joints[i].modelnum);
+			files.lSize=sizeof(bool);
+			FSRead( files.sFile, &files.lSize, &joints[i].visible);
+			files.lSize=sizeof(bool);
+			FSRead( files.sFile, &files.lSize, &what);
+			files.lSize=sizeof(int);
+			FSRead( files.sFile, &files.lSize, &joints[i].label);
+			files.lSize=sizeof(int);
+			FSRead( files.sFile, &files.lSize, &joints[i].hasgun);
+			files.lSize=sizeof(bool);
+			FSRead( files.sFile, &files.lSize, &joints[i].lower);
+			files.lSize=sizeof(int);
+			FSRead( files.sFile, &files.lSize, &parentID);
+			if(joints[i].hasparent)joints[i].parent=&joints[parentID];
+			joints[i].velocity=0;
+			joints[i].oldposition=joints[i].position;
+			joints[i].existing=1;
+		}
+		files.lSize=sizeof(num_muscles);
+		FSRead( files.sFile, &files.lSize, &num_muscles);
+		for(int i=0;i<num_muscles;i++){
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &muscles[i].length);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &muscles[i].targetlength);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &muscles[i].minlength);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &muscles[i].maxlength);
+			files.lSize=sizeof(float);
+			FSRead( files.sFile, &files.lSize, &muscles[i].strength);
+			files.lSize=sizeof(int);
+			FSRead( files.sFile, &files.lSize, &muscles[i].type);
+			files.lSize=sizeof(bool);
+			FSRead( files.sFile, &files.lSize, &muscles[i].visible);
+			files.lSize=sizeof(int);
+			FSRead( files.sFile, &files.lSize, &parentID);
+			muscles[i].parent1=&joints[parentID];
+			FSRead( files.sFile, &files.lSize, &parentID);
+			muscles[i].parent2=&joints[parentID];
+		}
+		files.lSize=sizeof(int);
+		for(int j=0;j<3;j++){
+			FSRead( files.sFile, &files.lSize, &forwardjoints[j]);
+		}
+		for(int j=0;j<3;j++){
+			FSRead( files.sFile, &files.lSize, &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;	
+}
+
-- 
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