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GetBoneEulerAngles

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Ricardo Luís Vaz Silva 2025-05-23 03:21:21 -03:00
commit c0c4b784ca
5 changed files with 146 additions and 7 deletions
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88
src/playsim/p_mobj.cpp
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@ -4309,6 +4309,86 @@ void AActor::GetBoneMatrix(int model_index, int bone_index, bool with_override,
}
}
DVector3 AActor::GetBoneEulerAngles(int model_index, int bone_index, bool with_override)
{
if(modelData && modelData->flags & MODELDATA_GET_BONE_INFO)
{
if(picnum.isValid()) return DVector3(0,0,0); // picnum overrides don't render models
FSpriteModelFrame *smf = FindModelFrame(this, sprite, frame, false); // dropped flag is for voxels
FVector3 objPos = FVector3(Pos() + WorldOffset);
VSMatrix boneMatrix = (with_override ? modelData->modelBoneInfo[model_index].positions_with_override : modelData->modelBoneInfo[model_index].positions)[bone_index];
VSMatrix worldMatrix = smf->ObjectToWorldMatrix(this, objPos.X, objPos.Y, objPos.Z, 1.0);
FVector4 oldFwd(1.0, 0.0, 0.0, 0.0);
FVector4 newFwd;
FVector4 oldUp(0.0, 1.0, 0.0, 0.0);
FVector4 newUp;
boneMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
boneMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
oldFwd = FVector4(FVector3(newFwd.X, newFwd.Y, newFwd.Z).Unit(), 0.0);
oldUp = FVector4(FVector3(newUp.X, newUp.Y, newUp.Z).Unit(), 0.0);
worldMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
worldMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
//billion thanks to https://www.jldoty.com/code/DirectX/YPRfromUF/YPRfromUF.html for helping figure out all this math
DVector3 fwd = DVector3(newFwd.X, newFwd.Y, newFwd.Z).Unit();
DVector3 up = DVector3(newUp.X, newUp.Y, newUp.Z).Unit();
DVector3 y(0,1,0);
DAngle yaw = DAngle::fromRad(atan2(fwd.Z, fwd.X));
DAngle pitch = DAngle::fromSin(-fwd.Y);
DAngle roll;
if(fwd == y)
{ // gimbal lock
yaw = DAngle::fromDeg(0);
roll = DAngle::fromSin(-up.X);
}
else
{
DVector3 right = (up ^ fwd).Unit(); // fwd and up must be perpendicular, thus right must be a unit vector
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
DVector3 y0 = (fwd ^ x0).Unit(); // up vector with no roll
double cos = y0 | up; // cos of roll-less up vector and "rolled" up vector
double sin;
double max = std::max(std::abs(x0.Z), std::max(std::abs(x0.X), std::abs(x0.Y)));
if(std::abs(x0.X) == max)
{
assert(x0.X != 0); // at least one of x0.X, x0.Y, x0.Z must be nonzero
sin = ((y0.X * cos) - up.X) / x0.X;
}
else if(std::abs(x0.Y) == max)
{
assert(x0.Y != 0); // at least one of x0.X, x0.Y, x0.Z must be nonzero
sin = ((y0.Y * cos) - up.Y) / x0.Y;
}
else //if(std::abs(x0.Z) == max)
{
assert(x0.Z != 0); // at least one of x0.X, x0.Y, x0.Z must be nonzero
sin = ((y0.Z * cos) - up.Z) / x0.Z;
}
roll = DAngle::fromSin(sin);
}
return DVector3(yaw.Degrees(), pitch.Degrees(), roll.Degrees());
}
return DVector3(0,0,0);
}
void AActor::GetBonePosition(int model_index, int bone_index, bool with_override, DVector3 &pos, DVector3 &fwd, DVector3 &up)
{
if(modelData && modelData->flags & MODELDATA_GET_BONE_INFO)
@ -4334,16 +4414,16 @@ void AActor::GetBonePosition(int model_index, int bone_index, bool with_override
boneMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
oldPos = FVector4(FVector3(newPos.X, newPos.Y, newPos.Z) / newPos.W, 1.0);
oldFwd = FVector4(FVector3(newFwd.X, newFwd.Y, newFwd.Z) / newFwd.W, 0.0);
oldUp = FVector4(FVector3(newUp.X, newUp.Y, newUp.Z) / newUp.W, 0.0);
oldFwd = FVector4(FVector3(newFwd.X, newFwd.Y, newFwd.Z).Unit(), 0.0);
oldUp = FVector4(FVector3(newUp.X, newUp.Y, newUp.Z).Unit(), 0.0);
worldMatrix.multMatrixPoint(&oldPos.X, &newPos.X);
worldMatrix.multMatrixPoint(&oldFwd.X, &newFwd.X);
worldMatrix.multMatrixPoint(&oldUp.X, &newUp.X);
pos = DVector3(newPos.X, newPos.Z, newPos.Y);
fwd = DVector3(newFwd.X, newFwd.Z, newFwd.Y);
up = DVector3(newUp.X, newUp.Z, newUp.Y);
fwd = DVector3(newFwd.X, newFwd.Z, newFwd.Y).Unit();
up = DVector3(newUp.X, newUp.Z, newUp.Y).Unit();
}
}