bone getters part 2.5
This commit is contained in:
Ricardo Luís Vaz Silva
Magnus Norddahl
parent
cc92dda41a
commit
af653e8b67
5 changed files with 197 additions and 31 deletions
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@ -1299,6 +1299,21 @@ public:
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return TAngle(double(rad * (180.0 / pi::pi())));
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}
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static constexpr TAngle fromCos(double cos)
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{
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return fromRad(g_acos(cos));
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}
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static constexpr TAngle fromSin(double sin)
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{
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return fromRad(g_asin(sin));
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}
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static constexpr TAngle fromTan(double tan)
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{
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return fromRad(g_atan(tan));
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}
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static constexpr TAngle fromBam(int f)
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{
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return TAngle(f * (90. / 0x40000000));
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@ -819,7 +819,8 @@ public:
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//outmat must be double[16]
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void GetBoneMatrix(int model_index, int bone_index, bool with_override, double *outMat);
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void GetBonePosition(int model_index, int bone_index, bool with_override, DVector3 &pos, DVector3 &normal);
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DVector3 GetBoneEulerAngles(int model_index, int bone_index, bool with_override);
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void GetBonePosition(int model_index, int bone_index, bool with_override, DVector3 &pos, DVector3 &fwd, DVector3 &up);
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void GetObjectToWorldMatrix(double *outMat);
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static AActor *StaticSpawn (FLevelLocals *Level, PClassActor *type, const DVector3 &pos, replace_t allowreplacement, bool SpawningMapThing = false);
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@ -5947,7 +5947,7 @@ DEFINE_ACTION_FUNCTION(AActor, GetNamedBoneBaseRotation)
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//
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//================================================
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DEFINE_ACTION_FUNCTION(AActor, GetBone)
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DEFINE_ACTION_FUNCTION(AActor, GetBoneTRS)
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{
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PARAM_SELF_PROLOGUE(AActor);
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PARAM_INT(bone_index);
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@ -5987,7 +5987,7 @@ DEFINE_ACTION_FUNCTION(AActor, GetBone)
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return numret;
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}
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DEFINE_ACTION_FUNCTION(AActor, GetNamedBone)
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DEFINE_ACTION_FUNCTION(AActor, GetNamedBoneTRS)
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{
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PARAM_SELF_PROLOGUE(AActor);
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PARAM_NAME(bone_name);
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@ -6030,6 +6030,45 @@ DEFINE_ACTION_FUNCTION(AActor, GetNamedBone)
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}
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DEFINE_ACTION_FUNCTION(AActor, GetBoneEulerAngles)
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{
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PARAM_SELF_PROLOGUE(AActor);
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PARAM_INT(bone_index);
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PARAM_BOOL(with_override);
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FModel * mdl = GetBoneShared(self, 0, bone_index, nullptr);
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if(mdl)
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{
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ACTION_RETURN_VEC3(self->GetBoneEulerAngles(0, bone_index, with_override));
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}
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ACTION_RETURN_VEC3(DVector3(0,0,0));
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}
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DEFINE_ACTION_FUNCTION(AActor, GetNamedBoneEulerAngles)
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{
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PARAM_SELF_PROLOGUE(AActor);
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PARAM_NAME(bone_name);
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PARAM_BOOL(with_override);
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int bone_index;
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FModel * mdl = GetBoneShared(self, 0, bone_index, &bone_name);
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if(mdl)
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{
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ACTION_RETURN_VEC3(self->GetBoneEulerAngles(0, bone_index, with_override));
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}
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ACTION_RETURN_VEC3(DVector3(0,0,0));
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}
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DEFINE_ACTION_FUNCTION(AActor, TransformByBone)
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{
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PARAM_SELF_PROLOGUE(AActor);
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@ -6037,24 +6076,33 @@ DEFINE_ACTION_FUNCTION(AActor, TransformByBone)
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PARAM_FLOAT(pos_x);
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PARAM_FLOAT(pos_y);
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PARAM_FLOAT(pos_z);
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PARAM_FLOAT(dir_x);
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PARAM_FLOAT(dir_y);
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PARAM_FLOAT(dir_z);
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PARAM_FLOAT(fwd_x);
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PARAM_FLOAT(fwd_y);
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PARAM_FLOAT(fwd_z);
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PARAM_FLOAT(up_x);
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PARAM_FLOAT(up_y);
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PARAM_FLOAT(up_z);
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PARAM_BOOL(with_override);
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FModel * mdl = GetBoneShared(self, 0, bone_index, nullptr);
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DVector3 position(pos_x, pos_y, pos_z);
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DVector3 direction(dir_x, dir_y, dir_z);
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DVector3 fwd(fwd_x, fwd_y, fwd_z);
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DVector3 up(up_x, up_y, up_z);
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if(mdl)
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{
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self->GetBonePosition(0, bone_index, with_override, position, direction);
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self->GetBonePosition(0, bone_index, with_override, position, fwd, up);
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}
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if(numret > 2)
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{
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ret[2].SetVector(up);
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}
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if(numret > 1)
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{
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ret[1].SetVector(direction);
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ret[1].SetVector(fwd);
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}
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if(numret > 0)
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@ -6072,9 +6120,12 @@ DEFINE_ACTION_FUNCTION(AActor, TransformByNamedBone)
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PARAM_FLOAT(pos_x);
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PARAM_FLOAT(pos_y);
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PARAM_FLOAT(pos_z);
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PARAM_FLOAT(dir_x);
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PARAM_FLOAT(dir_y);
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PARAM_FLOAT(dir_z);
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PARAM_FLOAT(fwd_x);
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PARAM_FLOAT(fwd_y);
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PARAM_FLOAT(fwd_z);
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PARAM_FLOAT(up_x);
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PARAM_FLOAT(up_y);
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PARAM_FLOAT(up_z);
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PARAM_BOOL(with_override);
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int bone_index;
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@ -6082,16 +6133,22 @@ DEFINE_ACTION_FUNCTION(AActor, TransformByNamedBone)
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FModel * mdl = GetBoneShared(self, 0, bone_index, &bone_name);
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DVector3 position(pos_x, pos_y, pos_z);
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DVector3 direction(dir_x, dir_y, dir_z);
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DVector3 fwd(fwd_x, fwd_y, fwd_z);
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DVector3 up(up_x, up_y, up_z);
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if(mdl)
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{
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self->GetBonePosition(0, bone_index, with_override, position, direction);
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self->GetBonePosition(0, bone_index, with_override, position, fwd, up);
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}
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if(numret > 2)
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{
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ret[2].SetVector(up);
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}
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if(numret > 1)
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{
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ret[1].SetVector(direction);
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ret[1].SetVector(fwd);
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}
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if(numret > 0)
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@ -3963,7 +3963,87 @@ void AActor::GetBoneMatrix(int model_index, int bone_index, bool with_override,
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}
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}
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void AActor::GetBonePosition(int model_index, int bone_index, bool with_override, DVector3 &pos, DVector3 &normal)
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DVector3 AActor::GetBoneEulerAngles(int model_index, int bone_index, bool with_override)
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{
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if(modelData && modelData->flags & MODELDATA_GET_BONE_INFO)
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{
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if(picnum.isValid()) return DVector3(0,0,0); // picnum overrides don't render models
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FSpriteModelFrame *smf = FindModelFrame(this, sprite, frame, false); // dropped flag is for voxels
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FVector3 objPos = FVector3(Pos() + WorldOffset);
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VSMatrix boneMatrix = (with_override ? modelData->modelBoneInfo[model_index].positions_with_override : modelData->modelBoneInfo[model_index].positions)[bone_index];
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VSMatrix worldMatrix = smf->ObjectToWorldMatrix(this, objPos.X, objPos.Y, objPos.Z, 1.0);
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FVector4 oldFwd(1.0, 0.0, 0.0, 0.0);
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FVector4 newFwd;
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FVector4 oldUp(0.0, 1.0, 0.0, 0.0);
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FVector4 newUp;
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boneMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
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boneMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
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oldFwd = FVector4(FVector3(newFwd.X, newFwd.Y, newFwd.Z).Unit(), 0.0);
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oldUp = FVector4(FVector3(newUp.X, newUp.Y, newUp.Z).Unit(), 0.0);
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worldMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
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worldMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
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//billion thanks to https://www.jldoty.com/code/DirectX/YPRfromUF/YPRfromUF.html for helping figure out all this math
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DVector3 fwd = DVector3(newFwd.X, newFwd.Y, newFwd.Z).Unit();
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DVector3 up = DVector3(newUp.X, newUp.Y, newUp.Z).Unit();
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DVector3 y(0,1,0);
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DAngle yaw = DAngle::fromRad(atan2(fwd.Z, fwd.X));
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DAngle pitch = DAngle::fromSin(-fwd.Y);
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DAngle roll;
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if(fwd == y)
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{ // gimbal lock
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yaw = DAngle::fromDeg(0);
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roll = DAngle::fromSin(-up.X);
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}
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else
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{
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DVector3 right = (up ^ fwd).Unit(); // fwd and up must be perpendicular, thus right must be a unit vector
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DVector3 x0 = (y ^ fwd).Unit(); // right vector with no roll, y and fwd aren't perpendicular, so it must be normalized into a unit vector
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DVector3 y0 = (fwd ^ x0).Unit(); // up vector with no roll
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double cos = y0 | up; // cos of roll-less up vector and "rolled" up vector
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double sin;
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double max = std::max(std::abs(x0.Z), std::max(std::abs(x0.X), std::abs(x0.Y)));
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if(std::abs(x0.X) == max)
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{
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assert(x0.X != 0); // at least one of x0.X, x0.Y, x0.Z must be nonzero
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sin = ((y0.X * cos) - up.X) / x0.X;
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}
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else if(std::abs(x0.Y) == max)
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{
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assert(x0.Y != 0); // at least one of x0.X, x0.Y, x0.Z must be nonzero
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sin = ((y0.Y * cos) - up.Y) / x0.Y;
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}
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else //if(std::abs(x0.Z) == max)
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{
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assert(x0.Z != 0); // at least one of x0.X, x0.Y, x0.Z must be nonzero
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sin = ((y0.Z * cos) - up.Z) / x0.Z;
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}
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roll = DAngle::fromSin(sin);
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}
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return DVector3(yaw.Degrees(), pitch.Degrees(), roll.Degrees());
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}
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return DVector3(0,0,0);
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}
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void AActor::GetBonePosition(int model_index, int bone_index, bool with_override, DVector3 &pos, DVector3 &fwd, DVector3 &up)
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{
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if(modelData && modelData->flags & MODELDATA_GET_BONE_INFO)
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{
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@ -3978,20 +4058,26 @@ void AActor::GetBonePosition(int model_index, int bone_index, bool with_override
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FVector4 oldPos(pos.X, pos.Z, pos.Y, 1.0);
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FVector4 newPos;
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FVector4 oldNormal(normal.X, normal.Z, normal.Y, 0.0);
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FVector4 newNormal;
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FVector4 oldFwd(fwd.X, fwd.Z, fwd.Y, 0.0);
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FVector4 newFwd;
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FVector4 oldUp(up.X, up.Z, up.Y, 0.0);
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FVector4 newUp;
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boneMatrix.multMatrixPoint(&oldPos.X, &newPos.X);
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boneMatrix.multMatrixPoint(&oldNormal.X, &newNormal.X);
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boneMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
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boneMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
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oldPos = FVector4(FVector3(newPos.X, newPos.Y, newPos.Z) / newPos.W, 1.0);
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oldNormal = FVector4(FVector3(newNormal.X, newNormal.Y, newNormal.Z) / newNormal.W, 0.0);
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oldFwd = FVector4(FVector3(newFwd.X, newFwd.Y, newFwd.Z).Unit(), 0.0);
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oldUp = FVector4(FVector3(newUp.X, newUp.Y, newUp.Z).Unit(), 0.0);
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worldMatrix.multMatrixPoint(&oldPos.X, &newPos.X);
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worldMatrix.multMatrixPoint(&oldNormal.X, &newNormal.X);
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worldMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
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worldMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
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pos = DVector3(newPos.X, newPos.Z, newPos.Y);
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normal = DVector3(newNormal.X, newNormal.Z, newNormal.Y);
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fwd = DVector3(newFwd.X, newFwd.Z, newFwd.Y).Unit();
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up = DVector3(newUp.X, newUp.Z, newUp.Y).Unit();
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}
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}
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@ -1441,21 +1441,28 @@ class Actor : Thinker native
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//
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//================================================
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/* rotation, translation, scaling */
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native version("4.15.1") Quat, Vector3, Vector3 GetBone(int boneIndex, bool include_offsets = true);
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native version("4.15.1") Quat, Vector3, Vector3 GetNamedBone(Name boneName, bool include_offsets = true);
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/* rotation, translation, scaling, doesn't include parent bones */
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native version("4.15.1") Quat, Vector3, Vector3 GetBoneTRS(int boneIndex, bool include_offsets = true);
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native version("4.15.1") Quat, Vector3, Vector3 GetNamedBoneTRS(Name boneName, bool include_offsets = true);
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native version("4.15.1") Vector3, Vector3 TransformByBone(int boneIndex, Vector3 position, Vector3 direction = (0,0,0), bool include_offsets = true);
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native version("4.15.1") Vector3, Vector3 TransformByNamedBone(Name boneName, Vector3 position, Vector3 direction = (0,0,0), bool include_offsets = true);
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/* angle, pitch, roll, includes parent bones */
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native version("4.15.1") Vector3 GetBoneEulerAngles(int boneIndex, bool include_offsets = true);
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native version("4.15.1") Vector3 GetNamedBoneEulerAngles(Name boneName, bool include_offsets = true);
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//input position/direction vectors are in xzy, model space
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native version("4.15.1") Vector3, Vector3, Vector3 TransformByBone(int boneIndex, Vector3 position, Vector3 forward = (1,0,0), Vector3 up = (0,0,1), bool include_offsets = true);
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native version("4.15.1") Vector3, Vector3, Vector3 TransformByNamedBone(Name boneName, Vector3 position, Vector3 forward = (1,0,0), Vector3 up = (0,0,1), bool include_offsets = true);
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version("4.15.1") Vector3 GetBonePosition(int boneIndex, bool include_offsets = true)
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version("4.15.1") Vector3, Vector3, Vector3 GetBonePosition(int boneIndex, bool include_offsets = true)
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{
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return TransformByBone(boneIndex, GetBoneBasePosition(boneIndex), include_offsets:include_offsets);
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let [a, b, c] = TransformByBone(boneIndex, GetBoneBasePosition(boneIndex), include_offsets:include_offsets);
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return a, b, c;
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}
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version("4.15.1") Vector3 GetNamedBonePosition(name boneName, bool include_offsets = true)
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version("4.15.1") Vector3, Vector3, Vector3 GetNamedBonePosition(name boneName, bool include_offsets = true)
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{
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return GetBonePosition(GetBoneIndex(boneName), include_offsets);
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let [a, b, c] = GetBonePosition(GetBoneIndex(boneName), include_offsets);
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return a, b, c;
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}
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//================================================
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