Source/Animation/Skeleton.cpp

   1 /*
   2 Copyright (C) 2003, 2010 - Wolfire Games
   3 Copyright (C) 2010-2016 - Lugaru contributors (see AUTHORS file)
   4
   5 This file is part of Lugaru.
   6
   7 Lugaru is free software; you can redistribute it and/or modify
   8 it under the terms of the GNU General Public License as published by
   9 the Free Software Foundation; either version 2 of the License, or
  10 (at your option) any later version.
  11
  12 Lugaru is distributed in the hope that it will be useful,
  13 but WITHOUT ANY WARRANTY; without even the implied warranty of
  14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15 GNU General Public License for more details.
  16
  17 You should have received a copy of the GNU General Public License
  18 along with Lugaru.  If not, see <http://www.gnu.org/licenses/>.
  19 */
  20
  21 /**> HEADER FILES <**/
  22 #include "Game.h"
  23 #include "Animation/Skeleton.h"
  24 #include "openal_wrapper.h"
  25 #include "Animation/Animation.h"
  26 #include "Utils/Folders.h"
  27
  28 extern float multiplier;
  29 extern float gravity;
  30 extern Terrain terrain;
  31 extern Objects objects;
  32 extern int environment;
  33 extern float camerashake;
  34 extern bool freeze;
  35 extern int detail;
  36 extern int tutoriallevel;
  37
  38 extern int whichjointstartarray[26];
  39 extern int whichjointendarray[26];
  40
  41 extern bool visibleloading;
  42
  43 Skeleton::Skeleton() :
  44     selected(0),
  45     id(0),
  46     num_models(0),
  47     clothes(false),
  48     spinny(false),
  49     skinsize(0),
  50     checkdelay(0),
  51     longdead(0),
  52     broken(false),
  53     free(0),
  54     oldfree(0),
  55     freetime(0),
  56     freefall(false)
  57 {
  58     memset(forwardjoints, 0, sizeof(forwardjoints));
  59     memset(lowforwardjoints, 0, sizeof(lowforwardjoints));
  60     memset(jointlabels, 0, sizeof(jointlabels));
  61     memset(skinText, 0, sizeof(skinText));
  62 }
  63
  64 /* EFFECT
  65  * sets forward, lowforward, specialforward[]
  66  *
  67  * USES:
  68  * Skeleton::Load
  69  * Person/Person::DoAnimations
  70  * Person/Person::DrawSkeleton
  71  */
  72 void Skeleton::FindForwards()
  73 {
  74     //Find forward vectors
  75     CrossProduct(joints[forwardjoints[1]].position - joints[forwardjoints[0]].position, joints[forwardjoints[2]].position - joints[forwardjoints[0]].position, &forward);
  76     Normalise(&forward);
  77
  78     CrossProduct(joints[lowforwardjoints[1]].position - joints[lowforwardjoints[0]].position, joints[lowforwardjoints[2]].position - joints[lowforwardjoints[0]].position, &lowforward);
  79     Normalise(&lowforward);
  80
  81     //Special forwards
  82     specialforward[0] = forward;
  83
  84     specialforward[1] = jointPos(rightshoulder) + jointPos(rightwrist);
  85     specialforward[1] = jointPos(rightelbow) - specialforward[1] / 2;
  86     specialforward[1] += forward * .4;
  87     Normalise(&specialforward[1]);
  88     specialforward[2] = jointPos(leftshoulder) + jointPos(leftwrist);
  89     specialforward[2] = jointPos(leftelbow) - specialforward[2] / 2;
  90     specialforward[2] += forward * .4;
  91     Normalise(&specialforward[2]);
  92
  93     specialforward[3] = jointPos(righthip) + jointPos(rightankle);
  94     specialforward[3] = specialforward[3] / 2 - jointPos(rightknee);
  95     specialforward[3] += lowforward * .4;
  96     Normalise(&specialforward[3]);
  97     specialforward[4] = jointPos(lefthip) + jointPos(leftankle);
  98     specialforward[4] = specialforward[4] / 2 - jointPos(leftknee);
  99     specialforward[4] += lowforward * .4;
 100     Normalise(&specialforward[4]);
 101 }
 102
 103 /* EFFECT
 104  * TODO
 105  *
 106  * USES:
 107  * Person/Person::RagDoll
 108  * Person/Person::DoStuff
 109  * Person/IKHelper
 110  */
 111 float Skeleton::DoConstraints(XYZ *coords, float *scale)
 112 {
 113     float friction = 1.5;
 114     const float elasticity = .3;
 115     XYZ bounceness;
 116     const int numrepeats = 3;
 117     float groundlevel = .15;
 118     int i, j, k, m;
 119     XYZ temp;
 120     XYZ terrainnormal;
 121     int whichhit;
 122     float frictionness;
 123     XYZ terrainlight;
 124     int whichpatchx;
 125     int whichpatchz;
 126     float damage = 0; // eventually returned from function
 127     bool breaking = false;
 128
 129     if (free) {
 130         freetime += multiplier;
 131
 132         whichpatchx = coords->x / (terrain.size / subdivision * terrain.scale);
 133         whichpatchz = coords->z / (terrain.size / subdivision * terrain.scale);
 134
 135         terrainlight = *coords;
 136         objects.SphereCheckPossible(&terrainlight, 1);
 137
 138         //Add velocity
 139         for (i = 0; i < joints.size(); i++) {
 140             joints[i].position = joints[i].position + joints[i].velocity * multiplier;
 141
 142             switch (joints[i].label) {
 143             case head:
 144                 groundlevel = .8;
 145                 break;
 146             case righthand:
 147             case rightwrist:
 148             case rightelbow:
 149             case lefthand:
 150             case leftwrist:
 151             case leftelbow:
 152                 groundlevel = .2;
 153                 break;
 154             default:
 155                 groundlevel = .15;
 156                 break;
 157             }
 158
 159             joints[i].position.y -= groundlevel;
 160             joints[i].oldvelocity = joints[i].velocity;
 161         }
 162
 163         float tempmult = multiplier;
 164         //multiplier/=numrepeats;
 165
 166         for (j = 0; j < numrepeats; j++) {
 167             float r = .05;
 168             // right leg constraints?
 169             if (!joint(rightknee).locked && !joint(righthip).locked) {
 170                 temp = jointPos(rightknee) - (jointPos(righthip) + jointPos(rightankle)) / 2;
 171                 while (normaldotproduct(temp, lowforward) > -.1 && !sphere_line_intersection(&jointPos(righthip), &jointPos(rightankle), &jointPos(rightknee), &r)) {
 172                     jointPos(rightknee) -= lowforward * .05;
 173                     if (spinny)
 174                         jointVel(rightknee) -= lowforward * .05 / multiplier / 4;
 175                     else
 176                         jointVel(rightknee) -= lowforward * .05;
 177                     jointPos(rightankle) += lowforward * .025;
 178                     if (spinny)
 179                         jointVel(rightankle) += lowforward * .025 / multiplier / 4;
 180                     else
 181                         jointVel(rightankle) += lowforward * .25;
 182                     jointPos(righthip) += lowforward * .025;
 183                     if (spinny)
 184                         jointVel(righthip) += lowforward * .025 / multiplier / 4;
 185                     else
 186                         jointVel(righthip) += lowforward * .025;
 187                     temp = jointPos(rightknee) - (jointPos(righthip) + jointPos(rightankle)) / 2;
 188                 }
 189             }
 190
 191             // left leg constraints?
 192             if (!joint(leftknee).locked && !joint(lefthip).locked) {
 193                 temp = jointPos(leftknee) - (jointPos(lefthip) + jointPos(leftankle)) / 2;
 194                 while (normaldotproduct(temp, lowforward) > -.1 && !sphere_line_intersection(&jointPos(lefthip), &jointPos(leftankle), &jointPos(leftknee), &r)) {
 195                     jointPos(leftknee) -= lowforward * .05;
 196                     if (spinny)
 197                         jointVel(leftknee) -= lowforward * .05 / multiplier / 4;
 198                     else
 199                         jointVel(leftknee) -= lowforward * .05;
 200                     jointPos(leftankle) += lowforward * .025;
 201                     if (spinny)
 202                         jointVel(leftankle) += lowforward * .025 / multiplier / 4;
 203                     else
 204                         jointVel(leftankle) += lowforward * .25;
 205                     jointPos(lefthip) += lowforward * .025;
 206                     if (spinny)
 207                         jointVel(lefthip) += lowforward * .025 / multiplier / 4;
 208                     else
 209                         jointVel(lefthip) += lowforward * .025;
 210                     temp = jointPos(leftknee) - (jointPos(lefthip) + jointPos(leftankle)) / 2;
 211                 }
 212             }
 213
 214             for (i = 0; i < joints.size(); i++) {
 215                 if (joints[i].locked && !spinny && findLengthfast(&joints[i].velocity) > 320)
 216                     joints[i].locked = 0;
 217                 if (spinny && findLengthfast(&joints[i].velocity) > 600)
 218                     joints[i].locked = 0;
 219                 if (joints[i].delay > 0) {
 220                     bool freely = true;
 221                     for (j = 0; j < joints.size(); j++) {
 222                         if (joints[j].locked)
 223                             freely = false;
 224                     }
 225                     if (freely)
 226                         joints[i].delay -= multiplier * 3;
 227                 }
 228             }
 229
 230             for (i = 0; i < muscles.size(); i++) {
 231                 //Length constraints
 232                 muscles[i].DoConstraint(spinny);
 233             }
 234
 235             for (i = 0; i < joints.size(); i++) {
 236                 //Length constraints
 237                 //Ground constraint
 238                 groundlevel = 0;
 239                 if (joints[i].position.y * (*scale) + coords->y < terrain.getHeight(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) + groundlevel) {
 240                     freefall = 0;
 241                     friction = 1.5;
 242                     if (joints[i].label == groin && !joints[i].locked && joints[i].delay <= 0) {
 243                         joints[i].locked = 1;
 244                         joints[i].delay = 1;
 245                         if (tutoriallevel != 1 || id == 0) {
 246                             emit_sound_at(landsound1, joints[i].position * (*scale) + *coords, 128.);
 247                         }
 248                         breaking = true;
 249                     }
 250
 251                     if (joints[i].label == head && !joints[i].locked && joints[i].delay <= 0) {
 252                         joints[i].locked = 1;
 253                         joints[i].delay = 1;
 254                         if (tutoriallevel != 1 || id == 0) {
 255                             emit_sound_at(landsound2, joints[i].position * (*scale) + *coords, 128.);
 256                         }
 257                     }
 258
 259                     terrainnormal = terrain.getNormal(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 260                     ReflectVector(&joints[i].velocity, &terrainnormal);
 261                     bounceness = terrainnormal * findLength(&joints[i].velocity) * (abs(normaldotproduct(joints[i].velocity, terrainnormal)));
 262                     if (!joints[i].locked)
 263                         damage += findLengthfast(&bounceness) / 4000;
 264                     if (findLengthfast(&joints[i].velocity) < findLengthfast(&bounceness))
 265                         bounceness = 0;
 266                     frictionness = abs(normaldotproduct(joints[i].velocity, terrainnormal));
 267                     joints[i].velocity -= bounceness;
 268                     if (1 - friction * frictionness > 0)
 269                         joints[i].velocity *= 1 - friction * frictionness;
 270                     else
 271                         joints[i].velocity = 0;
 272
 273                     if (tutoriallevel != 1 || id == 0)
 274                         if (findLengthfast(&bounceness) > 8000 && breaking) {
 275                             // FIXME: this crashes because k is not initialized!
 276                             // to reproduce, type 'wolfie' in console and play a while
 277                             // I'll just comment it out for now
 278                             //objects.model[k].MakeDecal(breakdecal, DoRotation(temp - objects.position[k], 0, -objects.yaw[k], 0), .4, .5, Random() % 360);
 279                             Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, 1, 1, 1, 4, .2);
 280                             breaking = false;
 281                             camerashake += .6;
 282
 283                             emit_sound_at(breaksound2, joints[i].position * (*scale) + *coords);
 284
 285                             addEnvSound(*coords, 64);
 286                         }
 287
 288                     if (findLengthfast(&bounceness) > 2500) {
 289                         Normalise(&bounceness);
 290                         bounceness = bounceness * 50;
 291                     }
 292
 293                     joints[i].velocity += bounceness * elasticity;
 294
 295                     if (findLengthfast(&joints[i].velocity) > findLengthfast(&joints[i].oldvelocity)) {
 296                         bounceness = 0;
 297                         joints[i].velocity = joints[i].oldvelocity;
 298                     }
 299
 300
 301                     if (joints[i].locked == 0)
 302                         if (findLengthfast(&joints[i].velocity) < 1)
 303                             joints[i].locked = 1;
 304
 305                     if (environment == snowyenvironment && findLengthfast(&bounceness) > 500 && terrain.getOpacity(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) < .2) {
 306                         terrainlight = terrain.getLighting(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 307                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, terrainlight.x, terrainlight.y, terrainlight.z, .5, .7);
 308                         if (detail == 2)
 309                             terrain.MakeDecal(bodyprintdecal, joints[i].position * (*scale) + *coords, .4, .4, 0);
 310                     } else if (environment == desertenvironment && findLengthfast(&bounceness) > 500 && terrain.getOpacity(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) < .2) {
 311                         terrainlight = terrain.getLighting(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 312                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, terrainlight.x * 190 / 255, terrainlight.y * 170 / 255, terrainlight.z * 108 / 255, .5, .7);
 313                     }
 314
 315                     else if (environment == grassyenvironment && findLengthfast(&bounceness) > 500 && terrain.getOpacity(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) < .2) {
 316                         terrainlight = terrain.getLighting(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 317                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, terrainlight.x * 90 / 255, terrainlight.y * 70 / 255, terrainlight.z * 8 / 255, .5, .5);
 318                     } else if (findLengthfast(&bounceness) > 500)
 319                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, terrainlight.x, terrainlight.y, terrainlight.z, .5, .2);
 320
 321
 322                     joints[i].position.y = (terrain.getHeight(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) + groundlevel - coords->y) / (*scale);
 323                     if (longdead > 100)
 324                         broken = 1;
 325                 }
 326                 if (terrain.patchobjectnum[whichpatchx][whichpatchz])
 327                     for (m = 0; m < terrain.patchobjectnum[whichpatchx][whichpatchz]; m++) {
 328                         k = terrain.patchobjects[whichpatchx][whichpatchz][m];
 329                         if (k < objects.numobjects && k >= 0)
 330                             if (objects.possible[k]) {
 331                                 friction = objects.friction[k];
 332                                 XYZ start = joints[i].realoldposition;
 333                                 XYZ end = joints[i].position * (*scale) + *coords;
 334                                 whichhit = objects.model[k].LineCheckPossible(&start, &end, &temp, &objects.position[k], &objects.yaw[k]);
 335                                 if (whichhit != -1) {
 336                                     if (joints[i].label == groin && !joints[i].locked && joints[i].delay <= 0) {
 337                                         joints[i].locked = 1;
 338                                         joints[i].delay = 1;
 339                                         if (tutoriallevel != 1 || id == 0) {
 340                                             emit_sound_at(landsound1, joints[i].position * (*scale) + *coords, 128.);
 341                                         }
 342                                         breaking = true;
 343                                     }
 344
 345                                     if (joints[i].label == head && !joints[i].locked && joints[i].delay <= 0) {
 346                                         joints[i].locked = 1;
 347                                         joints[i].delay = 1;
 348                                         if (tutoriallevel != 1 || id == 0) {
 349                                             emit_sound_at(landsound2, joints[i].position * (*scale) + *coords, 128.);
 350                                         }
 351                                     }
 352
 353                                     terrainnormal = DoRotation(objects.model[k].facenormals[whichhit], 0, objects.yaw[k], 0) * -1;
 354                                     if (terrainnormal.y > .8)
 355                                         freefall = 0;
 356                                     bounceness = terrainnormal * findLength(&joints[i].velocity) * (abs(normaldotproduct(joints[i].velocity, terrainnormal)));
 357                                     if (findLengthfast(&joints[i].velocity) > findLengthfast(&joints[i].oldvelocity)) {
 358                                         bounceness = 0;
 359                                         joints[i].velocity = joints[i].oldvelocity;
 360                                     }
 361                                     if (tutoriallevel != 1 || id == 0)
 362                                         if (findLengthfast(&bounceness) > 4000 && breaking) {
 363                                             objects.model[k].MakeDecal(breakdecal, DoRotation(temp - objects.position[k], 0, -objects.yaw[k], 0), .4, .5, Random() % 360);
 364                                             Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, 1, 1, 1, 4, .2);
 365                                             breaking = false;
 366                                             camerashake += .6;
 367
 368                                             emit_sound_at(breaksound2, joints[i].position * (*scale) + *coords);
 369
 370                                             addEnvSound(*coords, 64);
 371                                         }
 372                                     if (objects.type[k] == treetrunktype) {
 373                                         objects.rotx[k] += joints[i].velocity.x * multiplier * .4;
 374                                         objects.roty[k] += joints[i].velocity.z * multiplier * .4;
 375                                         objects.rotx[k + 1] += joints[i].velocity.x * multiplier * .4;
 376                                         objects.roty[k + 1] += joints[i].velocity.z * multiplier * .4;
 377                                     }
 378                                     if (!joints[i].locked)
 379                                         damage += findLengthfast(&bounceness) / 2500;
 380                                     ReflectVector(&joints[i].velocity, &terrainnormal);
 381                                     frictionness = abs(normaldotproduct(joints[i].velocity, terrainnormal));
 382                                     joints[i].velocity -= bounceness;
 383                                     if (1 - friction * frictionness > 0)
 384                                         joints[i].velocity *= 1 - friction * frictionness;
 385                                     else
 386                                         joints[i].velocity = 0;
 387                                     if (findLengthfast(&bounceness) > 2500) {
 388                                         Normalise(&bounceness);
 389                                         bounceness = bounceness * 50;
 390                                     }
 391                                     joints[i].velocity += bounceness * elasticity;
 392
 393
 394                                     if (!joints[i].locked)
 395                                         if (findLengthfast(&joints[i].velocity) < 1) {
 396                                             joints[i].locked = 1;
 397                                         }
 398                                     if (findLengthfast(&bounceness) > 500)
 399                                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, 1, 1, 1, .5, .2);
 400                                     joints[i].position = (temp - *coords) / (*scale) + terrainnormal * .005;
 401                                     if (longdead > 100)
 402                                         broken = 1;
 403                                 }
 404                             }
 405                     }
 406                 joints[i].realoldposition = joints[i].position * (*scale) + *coords;
 407             }
 408         }
 409         multiplier = tempmult;
 410
 411
 412         if (terrain.patchobjectnum[whichpatchx][whichpatchz])
 413             for (m = 0; m < terrain.patchobjectnum[whichpatchx][whichpatchz]; m++) {
 414                 k = terrain.patchobjects[whichpatchx][whichpatchz][m];
 415                 if (objects.possible[k]) {
 416                     for (i = 0; i < 26; i++) {
 417                         //Make this less stupid
 418                         XYZ start = joints[jointlabels[whichjointstartarray[i]]].position * (*scale) + *coords;
 419                         XYZ end = joints[jointlabels[whichjointendarray[i]]].position * (*scale) + *coords;
 420                         whichhit = objects.model[k].LineCheckSlidePossible(&start, &end, &temp, &objects.position[k], &objects.yaw[k]);
 421                         if (whichhit != -1) {
 422                             joints[jointlabels[whichjointendarray[i]]].position = (end - *coords) / (*scale);
 423                             for (j = 0; j < muscles.size(); j++) {
 424                                 if ((muscles[j].parent1->label == whichjointstartarray[i] && muscles[j].parent2->label == whichjointendarray[i]) || (muscles[j].parent2->label == whichjointstartarray[i] && muscles[j].parent1->label == whichjointendarray[i]))
 425                                     muscles[j].DoConstraint(spinny);
 426                             }
 427                         }
 428                     }
 429                 }
 430             }
 431
 432         for (i = 0; i < joints.size(); i++) {
 433             switch (joints[i].label) {
 434             case head:
 435                 groundlevel = .8;
 436                 break;
 437             case righthand:
 438             case rightwrist:
 439             case rightelbow:
 440             case lefthand:
 441             case leftwrist:
 442             case leftelbow:
 443                 groundlevel = .2;
 444                 break;
 445             default:
 446                 groundlevel = .15;
 447                 break;
 448             }
 449             joints[i].position.y += groundlevel;
 450             joints[i].mass = 1;
 451             if (joints[i].label == lefthip || joints[i].label == leftknee || joints[i].label == leftankle || joints[i].label == righthip || joints[i].label == rightknee || joints[i].label == rightankle)
 452                 joints[i].mass = 2;
 453             if (joints[i].locked) {
 454                 joints[i].mass = 4;
 455             }
 456         }
 457
 458         return damage;
 459     }
 460
 461     if (!free) {
 462         for (i = 0; i < muscles.size(); i++) {
 463             if (muscles[i].type == boneconnect)
 464                 muscles[i].DoConstraint(0);
 465         }
 466     }
 467
 468     return 0;
 469 }
 470
 471 /* EFFECT
 472  * applies gravity to the skeleton
 473  *
 474  * USES:
 475  * Person/Person::DoStuff
 476  */
 477 void Skeleton::DoGravity(float *scale)
 478 {
 479     static int i;
 480     for (i = 0; i < joints.size(); i++) {
 481         if (
 482                 (
 483                     ((joints[i].label != leftknee) && (joints[i].label != rightknee)) ||
 484                     (lowforward.y > -.1) ||
 485                     (joints[i].mass < 5)
 486                 ) && (
 487                     ((joints[i].label != leftelbow) && (joints[i].label != rightelbow)) ||
 488                     (forward.y < .3)
 489                 )
 490             )
 491             joints[i].velocity.y += gravity * multiplier / (*scale);
 492     }
 493 }
 494
 495 /* EFFECT
 496  * set muscles[which].rotate1
 497  *     .rotate2
 498  *     .rotate3
 499  *
 500  * special case if animation == hanganim
 501  */
 502 void Skeleton::FindRotationMuscle(int which, int animation)
 503 {
 504     XYZ p1, p2, fwd;
 505     float dist;
 506
 507     p1 = muscles[which].parent1->position;
 508     p2 = muscles[which].parent2->position;
 509     dist = findDistance(&p1, &p2);
 510     if (p1.y - p2.y <= dist)
 511         muscles[which].rotate2 = asin((p1.y - p2.y) / dist);
 512     if (p1.y - p2.y > dist)
 513         muscles[which].rotate2 = asin(1.f);
 514     muscles[which].rotate2 *= 360.0 / 6.2831853;
 515
 516     p1.y = 0;
 517     p2.y = 0;
 518     dist = findDistance(&p1, &p2);
 519     if (p1.z - p2.z <= dist)
 520         muscles[which].rotate1 = acos((p1.z - p2.z) / dist);
 521     if (p1.z - p2.z > dist)
 522         muscles[which].rotate1 = acos(1.f);
 523     muscles[which].rotate1 *= 360.0 / 6.2831853;
 524     if (p1.x > p2.x)
 525         muscles[which].rotate1 = 360 - muscles[which].rotate1;
 526     if (!isnormal(muscles[which].rotate1))
 527         muscles[which].rotate1 = 0;
 528     if (!isnormal(muscles[which].rotate2))
 529         muscles[which].rotate2 = 0;
 530
 531     const int label1 = muscles[which].parent1->label;
 532     const int label2 = muscles[which].parent2->label;
 533     switch (label1) {
 534     case head:
 535         fwd = specialforward[0];
 536         break;
 537     case rightshoulder:
 538     case rightelbow:
 539     case rightwrist:
 540     case righthand:
 541         fwd = specialforward[1];
 542         break;
 543     case leftshoulder:
 544     case leftelbow:
 545     case leftwrist:
 546     case lefthand:
 547         fwd = specialforward[2];
 548         break;
 549     case righthip:
 550     case rightknee:
 551     case rightankle:
 552     case rightfoot:
 553         fwd = specialforward[3];
 554         break;
 555     case lefthip:
 556     case leftknee:
 557     case leftankle:
 558     case leftfoot:
 559         fwd = specialforward[4];
 560         break;
 561     default:
 562         if (muscles[which].parent1->lower)
 563             fwd = lowforward;
 564         else
 565             fwd = forward;
 566         break;
 567     }
 568
 569     if (animation == hanganim) {
 570         if (label1 == righthand || label2 == righthand) {
 571             fwd = 0;
 572             fwd.x = -1;
 573         }
 574         if (label1 == lefthand || label2 == lefthand) {
 575             fwd = 0;
 576             fwd.x = 1;
 577         }
 578     }
 579
 580     if (free == 0) {
 581         if (label1 == rightfoot || label2 == rightfoot) {
 582             fwd.y -= .3;
 583         }
 584         if (label1 == leftfoot || label2 == leftfoot) {
 585             fwd.y -= .3;
 586         }
 587     }
 588
 589     fwd = DoRotation(fwd, 0, muscles[which].rotate1 - 90, 0);
 590     fwd = DoRotation(fwd, 0, 0, muscles[which].rotate2 - 90);
 591     fwd.y = 0;
 592     fwd /= findLength(&fwd);
 593     if (fwd.z <= 1 && fwd.z >= -1)
 594         muscles[which].rotate3 = acos(0 - fwd.z);
 595     else
 596         muscles[which].rotate3 = acos(-1.f);
 597     muscles[which].rotate3 *= 360.0 / 6.2831853;
 598     if (0 > fwd.x)
 599         muscles[which].rotate3 = 360 - muscles[which].rotate3;
 600     if (!isnormal(muscles[which].rotate3))
 601         muscles[which].rotate3 = 0;
 602 }
 603
 604 /* EFFECT
 605  * load skeleton
 606  * takes filenames for three skeleton files and various models
 607  */
 608 void Skeleton::Load(const std::string& filename,       const std::string& lowfilename, const std::string& clothesfilename,
 609                     const std::string& modelfilename,  const std::string& model2filename,
 610                     const std::string& model3filename, const std::string& model4filename,
 611                     const std::string& model5filename, const std::string& model6filename,
 612                     const std::string& model7filename, const std::string& modellowfilename,
 613                     const std::string& modelclothesfilename, bool clothes)
 614 {
 615     GLfloat M[16];
 616     FILE *tfile;
 617     float lSize;
 618     int i, j, num_joints, num_muscles;
 619
 620     LOGFUNC;
 621
 622     num_models = 7;
 623
 624     // load various models
 625     // rotate, scale, do normals, do texcoords for each as needed
 626
 627     model[0].loadnotex(modelfilename);
 628     model[1].loadnotex(model2filename);
 629     model[2].loadnotex(model3filename);
 630     model[3].loadnotex(model4filename);
 631     model[4].loadnotex(model5filename);
 632     model[5].loadnotex(model6filename);
 633     model[6].loadnotex(model7filename);
 634
 635     for (i = 0; i < num_models; i++) {
 636         model[i].Rotate(180, 0, 0);
 637         model[i].Scale(.04, .04, .04);
 638         model[i].CalculateNormals(0);
 639     }
 640
 641     drawmodel.load(modelfilename, 0);
 642     drawmodel.Rotate(180, 0, 0);
 643     drawmodel.Scale(.04, .04, .04);
 644     drawmodel.FlipTexCoords();
 645     if ((tutoriallevel == 1) && (id != 0)) {
 646         drawmodel.UniformTexCoords();
 647         drawmodel.ScaleTexCoords(0.1);
 648     }
 649     drawmodel.CalculateNormals(0);
 650
 651     modellow.loadnotex(modellowfilename);
 652     modellow.Rotate(180, 0, 0);
 653     modellow.Scale(.04, .04, .04);
 654     modellow.CalculateNormals(0);
 655
 656     drawmodellow.load(modellowfilename, 0);
 657     drawmodellow.Rotate(180, 0, 0);
 658     drawmodellow.Scale(.04, .04, .04);
 659     drawmodellow.FlipTexCoords();
 660     if (tutoriallevel == 1 && id != 0)
 661         drawmodellow.UniformTexCoords();
 662     if (tutoriallevel == 1 && id != 0)
 663         drawmodellow.ScaleTexCoords(0.1);
 664     drawmodellow.CalculateNormals(0);
 665
 666     if (clothes) {
 667         modelclothes.loadnotex(modelclothesfilename);
 668         modelclothes.Rotate(180, 0, 0);
 669         modelclothes.Scale(.041, .04, .041);
 670         modelclothes.CalculateNormals(0);
 671
 672         drawmodelclothes.load(modelclothesfilename, 0);
 673         drawmodelclothes.Rotate(180, 0, 0);
 674         drawmodelclothes.Scale(.04, .04, .04);
 675         drawmodelclothes.FlipTexCoords();
 676         drawmodelclothes.CalculateNormals(0);
 677     }
 678
 679     // FIXME: three similar blocks follow, one for each of:
 680     // filename, lowfilename, clothesfilename
 681
 682     // load skeleton
 683
 684     tfile = Folders::openMandatoryFile( Folders::getResourcePath(filename), "rb" );
 685
 686     // read num_joints
 687     funpackf(tfile, "Bi", &num_joints);
 688
 689     joints.resize(num_joints);
 690
 691     // read info for each joint
 692     for (i = 0; i < num_joints; i++) {
 693         joints[i].load(tfile, joints);
 694     }
 695
 696     // read num_muscles
 697     funpackf(tfile, "Bi", &num_muscles);
 698
 699     // allocate memory
 700     muscles.resize(num_muscles);
 701
 702     // for each muscle...
 703     for (i = 0; i < num_muscles; i++) {
 704         muscles[i].load(tfile, model[0].vertexNum, joints);
 705     }
 706
 707     // read forwardjoints (?)
 708     for (j = 0; j < 3; j++) {
 709         funpackf(tfile, "Bi", &forwardjoints[j]);
 710     }
 711     // read lowforwardjoints (?)
 712     for (j = 0; j < 3; j++) {
 713         funpackf(tfile, "Bi", &lowforwardjoints[j]);
 714     }
 715
 716     // ???
 717     for (j = 0; j < num_muscles; j++) {
 718         for (i = 0; i < muscles[j].vertices.size(); i++) {
 719             for (int k = 0; k < num_models; k++) {
 720                 if (muscles[j].vertices[i] < model[k].vertexNum)
 721                     model[k].owner[muscles[j].vertices[i]] = j;
 722             }
 723         }
 724     }
 725
 726     // calculate some stuff
 727     FindForwards();
 728     for (i = 0; i < num_muscles; i++) {
 729         FindRotationMuscle(i, -1);
 730     }
 731     // this seems to use opengl purely for matrix calculations
 732     for (int k = 0; k < num_models; k++) {
 733         for (i = 0; i < model[k].vertexNum; i++) {
 734             model[k].vertex[i] = model[k].vertex[i] - (muscles[model[k].owner[i]].parent1->position + muscles[model[k].owner[i]].parent2->position) / 2;
 735             glMatrixMode(GL_MODELVIEW);
 736             glPushMatrix();
 737             glLoadIdentity();
 738             glRotatef(muscles[model[k].owner[i]].rotate3, 0, 1, 0);
 739             glRotatef(muscles[model[k].owner[i]].rotate2 - 90, 0, 0, 1);
 740             glRotatef(muscles[model[k].owner[i]].rotate1 - 90, 0, 1, 0);
 741             glTranslatef(model[k].vertex[i].x, model[k].vertex[i].y, model[k].vertex[i].z);
 742             glGetFloatv(GL_MODELVIEW_MATRIX, M);
 743             model[k].vertex[i].x = M[12] * 1;
 744             model[k].vertex[i].y = M[13] * 1;
 745             model[k].vertex[i].z = M[14] * 1;
 746             glPopMatrix();
 747         }
 748         model[k].CalculateNormals(0);
 749     }
 750     fclose(tfile);
 751
 752     // load ???
 753
 754     tfile = Folders::openMandatoryFile( Folders::getResourcePath(lowfilename), "rb" );
 755
 756     // skip joints section
 757
 758     fseek(tfile, sizeof(num_joints), SEEK_CUR);
 759     for (i = 0; i < num_joints; i++) {
 760         // skip joint info
 761         lSize = sizeof(XYZ)
 762                 + sizeof(float)
 763                 + sizeof(float)
 764                 + 1 //sizeof(bool)
 765                 + 1 //sizeof(bool)
 766                 + sizeof(int)
 767                 + 1 //sizeof(bool)
 768                 + 1 //sizeof(bool)
 769                 + sizeof(int)
 770                 + sizeof(int)
 771                 + 1 //sizeof(bool)
 772                 + sizeof(int);
 773         fseek(tfile, lSize, SEEK_CUR);
 774     }
 775
 776     // skip num_muscles
 777     fseek(tfile, sizeof(num_muscles), SEEK_CUR);
 778
 779     for (i = 0; i < num_muscles; i++) {
 780         // skip muscle info
 781         lSize = sizeof(float)
 782                 + sizeof(float)
 783                 + sizeof(float)
 784                 + sizeof(float)
 785                 + sizeof(float)
 786                 + sizeof(int);
 787         fseek(tfile, lSize, SEEK_CUR);
 788
 789         muscles[i].loadVerticesLow(tfile, modellow.vertexNum);
 790
 791         // skip more stuff
 792         lSize = 1; //sizeof(bool);
 793         fseek ( tfile, lSize, SEEK_CUR);
 794         lSize = sizeof(int);
 795         fseek ( tfile, lSize, SEEK_CUR);
 796         fseek ( tfile, lSize, SEEK_CUR);
 797     }
 798
 799     for (j = 0; j < num_muscles; j++) {
 800         for (i = 0; i < muscles[j].verticeslow.size(); i++) {
 801             if (muscles[j].verticeslow[i] < modellow.vertexNum)
 802                 modellow.owner[muscles[j].verticeslow[i]] = j;
 803         }
 804     }
 805
 806     // use opengl for its matrix math
 807     for (i = 0; i < modellow.vertexNum; i++) {
 808         modellow.vertex[i] = modellow.vertex[i] - (muscles[modellow.owner[i]].parent1->position + muscles[modellow.owner[i]].parent2->position) / 2;
 809         glMatrixMode(GL_MODELVIEW);
 810         glPushMatrix();
 811         glLoadIdentity();
 812         glRotatef(muscles[modellow.owner[i]].rotate3, 0, 1, 0);
 813         glRotatef(muscles[modellow.owner[i]].rotate2 - 90, 0, 0, 1);
 814         glRotatef(muscles[modellow.owner[i]].rotate1 - 90, 0, 1, 0);
 815         glTranslatef(modellow.vertex[i].x, modellow.vertex[i].y, modellow.vertex[i].z);
 816         glGetFloatv(GL_MODELVIEW_MATRIX, M);
 817         modellow.vertex[i].x = M[12];
 818         modellow.vertex[i].y = M[13];
 819         modellow.vertex[i].z = M[14];
 820         glPopMatrix();
 821     }
 822
 823     modellow.CalculateNormals(0);
 824
 825     // load clothes
 826
 827     if (clothes) {
 828         tfile = Folders::openMandatoryFile( Folders::getResourcePath(clothesfilename), "rb" );
 829
 830         // skip num_joints
 831         fseek(tfile, sizeof(num_joints), SEEK_CUR);
 832
 833         for (i = 0; i < num_joints; i++) {
 834             // skip joint info
 835             lSize = sizeof(XYZ)
 836                     + sizeof(float)
 837                     + sizeof(float)
 838                     + 1 //sizeof(bool)
 839                     + 1 //sizeof(bool)
 840                     + sizeof(int)
 841                     + 1 //sizeof(bool)
 842                     + 1 //sizeof(bool)
 843                     + sizeof(int)
 844                     + sizeof(int)
 845                     + 1 //sizeof(bool)
 846                     + sizeof(int);
 847             fseek(tfile, lSize, SEEK_CUR);
 848         }
 849
 850         // skip num_muscles
 851         fseek(tfile, sizeof(num_muscles), SEEK_CUR);
 852
 853         for (i = 0; i < num_muscles; i++) {
 854             // skip muscle info
 855             lSize = sizeof(float)
 856                     + sizeof(float)
 857                     + sizeof(float)
 858                     + sizeof(float)
 859                     + sizeof(float)
 860                     + sizeof(int);
 861             fseek(tfile, lSize, SEEK_CUR);
 862
 863             muscles[i].loadVerticesClothes(tfile, modelclothes.vertexNum);
 864
 865             // skip more stuff
 866             lSize = 1; //sizeof(bool);
 867             fseek ( tfile, lSize, SEEK_CUR);
 868             lSize = sizeof(int);
 869             fseek ( tfile, lSize, SEEK_CUR);
 870             fseek ( tfile, lSize, SEEK_CUR);
 871         }
 872
 873         // ???
 874         lSize = sizeof(int);
 875         for (j = 0; j < num_muscles; j++) {
 876             for (i = 0; i < muscles[j].verticesclothes.size(); i++) {
 877                 if (muscles[j].verticesclothes.size() && muscles[j].verticesclothes[i] < modelclothes.vertexNum)
 878                     modelclothes.owner[muscles[j].verticesclothes[i]] = j;
 879             }
 880         }
 881
 882         // use opengl for its matrix math
 883         for (i = 0; i < modelclothes.vertexNum; i++) {
 884             modelclothes.vertex[i] = modelclothes.vertex[i] - (muscles[modelclothes.owner[i]].parent1->position + muscles[modelclothes.owner[i]].parent2->position) / 2;
 885             glMatrixMode(GL_MODELVIEW);
 886             glPushMatrix();
 887             glLoadIdentity();
 888             glRotatef(muscles[modelclothes.owner[i]].rotate3, 0, 1, 0);
 889             glRotatef(muscles[modelclothes.owner[i]].rotate2 - 90, 0, 0, 1);
 890             glRotatef(muscles[modelclothes.owner[i]].rotate1 - 90, 0, 1, 0);
 891             glTranslatef(modelclothes.vertex[i].x, modelclothes.vertex[i].y, modelclothes.vertex[i].z);
 892             glGetFloatv(GL_MODELVIEW_MATRIX, M);
 893             modelclothes.vertex[i].x = M[12];
 894             modelclothes.vertex[i].y = M[13];
 895             modelclothes.vertex[i].z = M[14];
 896             glPopMatrix();
 897         }
 898
 899         modelclothes.CalculateNormals(0);
 900     }
 901     fclose(tfile);
 902
 903     for (i = 0; i < num_joints; i++) {
 904         for (j = 0; j < num_joints; j++) {
 905             if (joints[i].label == j)
 906                 jointlabels[j] = i;
 907         }
 908     }
 909
 910     free = 0;
 911 }