GetBoneEulerAngles
This commit is contained in:
Ricardo Luís Vaz Silva
parent
cffdfa802e
commit
c0c4b784ca
5 changed files with 146 additions and 7 deletions
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@ -1293,6 +1293,21 @@ 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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@ -831,6 +831,7 @@ 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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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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@ -6030,6 +6030,45 @@ DEFINE_ACTION_FUNCTION(AActor, GetNamedBoneTRS)
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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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@ -4309,6 +4309,86 @@ void AActor::GetBoneMatrix(int model_index, int bone_index, bool with_override,
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}
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}
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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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@ -4334,16 +4414,16 @@ void AActor::GetBonePosition(int model_index, int bone_index, bool with_override
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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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oldFwd = FVector4(FVector3(newFwd.X, newFwd.Y, newFwd.Z) / newFwd.W, 0.0);
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oldUp = FVector4(FVector3(newUp.X, newUp.Y, newUp.Z) / newUp.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(&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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fwd = DVector3(newFwd.X, newFwd.Z, newFwd.Y);
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up = DVector3(newUp.X, newUp.Z, newUp.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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@ -1479,9 +1479,13 @@ class Actor : Thinker native
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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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/* 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 = (0,1,0), 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 = (0,1,0), bool include_offsets = true);
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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, Vector3, Vector3 GetBonePosition(int boneIndex, bool include_offsets = true)
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{
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@ -1489,7 +1493,7 @@ class Actor : Thinker native
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return a, b, c;
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}
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version("4.15.1") Vector3, 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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let [a, b, c] = GetBonePosition(GetBoneIndex(boneName), include_offsets);
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return a, b, c;
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