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 #include "Animation/Skeleton.hpp"
  22
  23 #include "Animation/Animation.hpp"
  24 #include "Audio/openal_wrapper.hpp"
  25 #include "Game.hpp"
  26 #include "Utils/Folders.hpp"
  27 #include "Tutorial.hpp"
  28
  29 extern float multiplier;
  30 extern float gravity;
  31 extern Terrain terrain;
  32 extern int environment;
  33 extern float camerashake;
  34 extern bool freeze;
  35 extern int detail;
  36
  37 extern int whichjointstartarray[26];
  38 extern int whichjointendarray[26];
  39
  40 Skeleton::Skeleton() :
  41     selected(0),
  42     id(0),
  43     num_models(0),
  44     clothes(false),
  45     spinny(false),
  46     skinsize(0),
  47     checkdelay(0),
  48     longdead(0),
  49     broken(false),
  50     free(0),
  51     oldfree(0),
  52     freetime(0),
  53     freefall(false)
  54 {
  55     memset(forwardjoints, 0, sizeof(forwardjoints));
  56     memset(lowforwardjoints, 0, sizeof(lowforwardjoints));
  57     memset(jointlabels, 0, sizeof(jointlabels));
  58     memset(skinText, 0, sizeof(skinText));
  59 }
  60
  61 /* EFFECT
  62  * sets forward, lowforward, specialforward[]
  63  *
  64  * USES:
  65  * Skeleton::Load
  66  * Person/Person::DoAnimations
  67  * Person/Person::DrawSkeleton
  68  */
  69 void Skeleton::FindForwards()
  70 {
  71     //Find forward vectors
  72     CrossProduct(joints[forwardjoints[1]].position - joints[forwardjoints[0]].position, joints[forwardjoints[2]].position - joints[forwardjoints[0]].position, &forward);
  73     Normalise(&forward);
  74
  75     CrossProduct(joints[lowforwardjoints[1]].position - joints[lowforwardjoints[0]].position, joints[lowforwardjoints[2]].position - joints[lowforwardjoints[0]].position, &lowforward);
  76     Normalise(&lowforward);
  77
  78     //Special forwards
  79     specialforward[0] = forward;
  80
  81     specialforward[1] = jointPos(rightshoulder) + jointPos(rightwrist);
  82     specialforward[1] = jointPos(rightelbow) - specialforward[1] / 2;
  83     specialforward[1] += forward * .4;
  84     Normalise(&specialforward[1]);
  85     specialforward[2] = jointPos(leftshoulder) + jointPos(leftwrist);
  86     specialforward[2] = jointPos(leftelbow) - specialforward[2] / 2;
  87     specialforward[2] += forward * .4;
  88     Normalise(&specialforward[2]);
  89
  90     specialforward[3] = jointPos(righthip) + jointPos(rightankle);
  91     specialforward[3] = specialforward[3] / 2 - jointPos(rightknee);
  92     specialforward[3] += lowforward * .4;
  93     Normalise(&specialforward[3]);
  94     specialforward[4] = jointPos(lefthip) + jointPos(leftankle);
  95     specialforward[4] = specialforward[4] / 2 - jointPos(leftknee);
  96     specialforward[4] += lowforward * .4;
  97     Normalise(&specialforward[4]);
  98 }
  99
 100 /* EFFECT
 101  * TODO
 102  *
 103  * USES:
 104  * Person/Person::RagDoll
 105  * Person/Person::DoStuff
 106  * Person/IKHelper
 107  */
 108 float Skeleton::DoConstraints(XYZ *coords, float *scale)
 109 {
 110     const float elasticity = .3;
 111     XYZ bounceness;
 112     const int numrepeats = 3;
 113     float groundlevel = .15;
 114     int m;
 115     unsigned i;
 116     XYZ temp;
 117     XYZ terrainnormal;
 118     int whichhit;
 119     float frictionness;
 120     XYZ terrainlight;
 121     int whichpatchx;
 122     int whichpatchz;
 123     float damage = 0; // eventually returned from function
 124     bool breaking = false;
 125
 126     if (free) {
 127         freetime += multiplier;
 128
 129         whichpatchx = coords->x / (terrain.size / subdivision * terrain.scale);
 130         whichpatchz = coords->z / (terrain.size / subdivision * terrain.scale);
 131
 132         terrainlight = *coords;
 133         Object::SphereCheckPossible(&terrainlight, 1);
 134
 135         //Add velocity
 136         for (i = 0; i < joints.size(); i++) {
 137             joints[i].position = joints[i].position + joints[i].velocity * multiplier;
 138
 139             switch (joints[i].label) {
 140             case head:
 141                 groundlevel = .8;
 142                 break;
 143             case righthand:
 144             case rightwrist:
 145             case rightelbow:
 146             case lefthand:
 147             case leftwrist:
 148             case leftelbow:
 149                 groundlevel = .2;
 150                 break;
 151             default:
 152                 groundlevel = .15;
 153                 break;
 154             }
 155
 156             joints[i].position.y -= groundlevel;
 157             joints[i].oldvelocity = joints[i].velocity;
 158         }
 159
 160         float tempmult = multiplier;
 161         //multiplier/=numrepeats;
 162
 163         for (int j = 0; j < numrepeats; j++) {
 164             float r = .05;
 165             // right leg constraints?
 166             if (!joint(rightknee).locked && !joint(righthip).locked) {
 167                 temp = jointPos(rightknee) - (jointPos(righthip) + jointPos(rightankle)) / 2;
 168                 while (normaldotproduct(temp, lowforward) > -.1 && !sphere_line_intersection(&jointPos(righthip), &jointPos(rightankle), &jointPos(rightknee), &r)) {
 169                     jointPos(rightknee) -= lowforward * .05;
 170                     if (spinny)
 171                         jointVel(rightknee) -= lowforward * .05 / multiplier / 4;
 172                     else
 173                         jointVel(rightknee) -= lowforward * .05;
 174                     jointPos(rightankle) += lowforward * .025;
 175                     if (spinny)
 176                         jointVel(rightankle) += lowforward * .025 / multiplier / 4;
 177                     else
 178                         jointVel(rightankle) += lowforward * .25;
 179                     jointPos(righthip) += lowforward * .025;
 180                     if (spinny)
 181                         jointVel(righthip) += lowforward * .025 / multiplier / 4;
 182                     else
 183                         jointVel(righthip) += lowforward * .025;
 184                     temp = jointPos(rightknee) - (jointPos(righthip) + jointPos(rightankle)) / 2;
 185                 }
 186             }
 187
 188             // left leg constraints?
 189             if (!joint(leftknee).locked && !joint(lefthip).locked) {
 190                 temp = jointPos(leftknee) - (jointPos(lefthip) + jointPos(leftankle)) / 2;
 191                 while (normaldotproduct(temp, lowforward) > -.1 && !sphere_line_intersection(&jointPos(lefthip), &jointPos(leftankle), &jointPos(leftknee), &r)) {
 192                     jointPos(leftknee) -= lowforward * .05;
 193                     if (spinny)
 194                         jointVel(leftknee) -= lowforward * .05 / multiplier / 4;
 195                     else
 196                         jointVel(leftknee) -= lowforward * .05;
 197                     jointPos(leftankle) += lowforward * .025;
 198                     if (spinny)
 199                         jointVel(leftankle) += lowforward * .025 / multiplier / 4;
 200                     else
 201                         jointVel(leftankle) += lowforward * .25;
 202                     jointPos(lefthip) += lowforward * .025;
 203                     if (spinny)
 204                         jointVel(lefthip) += lowforward * .025 / multiplier / 4;
 205                     else
 206                         jointVel(lefthip) += lowforward * .025;
 207                     temp = jointPos(leftknee) - (jointPos(lefthip) + jointPos(leftankle)) / 2;
 208                 }
 209             }
 210
 211             for (i = 0; i < joints.size(); i++) {
 212                 if (joints[i].locked && !spinny && findLengthfast(&joints[i].velocity) > 320)
 213                     joints[i].locked = 0;
 214                 if (spinny && findLengthfast(&joints[i].velocity) > 600)
 215                     joints[i].locked = 0;
 216                 if (joints[i].delay > 0) {
 217                     bool freely = true;
 218                     for (unsigned j = 0; j < joints.size(); j++) {
 219                         if (joints[j].locked)
 220                             freely = false;
 221                     }
 222                     if (freely)
 223                         joints[i].delay -= multiplier * 3;
 224                 }
 225             }
 226
 227             for (i = 0; i < muscles.size(); i++) {
 228                 //Length constraints
 229                 muscles[i].DoConstraint(spinny);
 230             }
 231
 232             float friction;
 233             for (i = 0; i < joints.size(); i++) {
 234                 //Length constraints
 235                 //Ground constraint
 236                 groundlevel = 0;
 237                 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) {
 238                     freefall = 0;
 239                     friction = 1.5;
 240                     if (joints[i].label == groin && !joints[i].locked && joints[i].delay <= 0) {
 241                         joints[i].locked = 1;
 242                         joints[i].delay = 1;
 243                         if (!Tutorial::active || id == 0) {
 244                             emit_sound_at(landsound1, joints[i].position * (*scale) + *coords, 128.);
 245                         }
 246                         breaking = true;
 247                     }
 248
 249                     if (joints[i].label == head && !joints[i].locked && joints[i].delay <= 0) {
 250                         joints[i].locked = 1;
 251                         joints[i].delay = 1;
 252                         if (!Tutorial::active || id == 0) {
 253                             emit_sound_at(landsound2, joints[i].position * (*scale) + *coords, 128.);
 254                         }
 255                     }
 256
 257                     terrainnormal = terrain.getNormal(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 258                     ReflectVector(&joints[i].velocity, &terrainnormal);
 259                     bounceness = terrainnormal * findLength(&joints[i].velocity) * (abs(normaldotproduct(joints[i].velocity, terrainnormal)));
 260                     if (!joints[i].locked)
 261                         damage += findLengthfast(&bounceness) / 4000;
 262                     if (findLengthfast(&joints[i].velocity) < findLengthfast(&bounceness))
 263                         bounceness = 0;
 264                     frictionness = abs(normaldotproduct(joints[i].velocity, terrainnormal));
 265                     joints[i].velocity -= bounceness;
 266                     if (1 - friction * frictionness > 0)
 267                         joints[i].velocity *= 1 - friction * frictionness;
 268                     else
 269                         joints[i].velocity = 0;
 270
 271                     if (!Tutorial::active || id == 0)
 272                         if (findLengthfast(&bounceness) > 8000 && breaking) {
 273                             // FIXME: this crashes because k is not initialized!
 274                             // to reproduce, type 'wolfie' in console and play a while
 275                             // I'll just comment it out for now
 276                             //Object::objects[k]->model.MakeDecal(breakdecal, DoRotation(temp - Object::objects[k]->position, 0, -Object::objects[k]->yaw, 0), .4, .5, Random() % 360);
 277                             Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, 1, 1, 1, 4, .2);
 278                             breaking = false;
 279                             camerashake += .6;
 280
 281                             emit_sound_at(breaksound2, joints[i].position * (*scale) + *coords);
 282
 283                             addEnvSound(*coords, 64);
 284                         }
 285
 286                     if (findLengthfast(&bounceness) > 2500) {
 287                         Normalise(&bounceness);
 288                         bounceness = bounceness * 50;
 289                     }
 290
 291                     joints[i].velocity += bounceness * elasticity;
 292
 293                     if (findLengthfast(&joints[i].velocity) > findLengthfast(&joints[i].oldvelocity)) {
 294                         bounceness = 0;
 295                         joints[i].velocity = joints[i].oldvelocity;
 296                     }
 297
 298
 299                     if (joints[i].locked == 0)
 300                         if (findLengthfast(&joints[i].velocity) < 1)
 301                             joints[i].locked = 1;
 302
 303                     if (environment == snowyenvironment && findLengthfast(&bounceness) > 500 && terrain.getOpacity(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) < .2) {
 304                         terrainlight = terrain.getLighting(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 305                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, terrainlight.x, terrainlight.y, terrainlight.z, .5, .7);
 306                         if (detail == 2)
 307                             terrain.MakeDecal(bodyprintdecal, joints[i].position * (*scale) + *coords, .4, .4, 0);
 308                     } else if (environment == desertenvironment && findLengthfast(&bounceness) > 500 && terrain.getOpacity(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) < .2) {
 309                         terrainlight = terrain.getLighting(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 310                         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);
 311                     }
 312
 313                     else if (environment == grassyenvironment && findLengthfast(&bounceness) > 500 && terrain.getOpacity(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) < .2) {
 314                         terrainlight = terrain.getLighting(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z);
 315                         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);
 316                     } else if (findLengthfast(&bounceness) > 500)
 317                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, terrainlight.x, terrainlight.y, terrainlight.z, .5, .2);
 318
 319
 320                     joints[i].position.y = (terrain.getHeight(joints[i].position.x * (*scale) + coords->x, joints[i].position.z * (*scale) + coords->z) + groundlevel - coords->y) / (*scale);
 321                     if (longdead > 100)
 322                         broken = 1;
 323                 }
 324                 if (terrain.patchobjectnum[whichpatchx][whichpatchz])
 325                     for (m = 0; m < terrain.patchobjectnum[whichpatchx][whichpatchz]; m++) {
 326                         unsigned int k = terrain.patchobjects[whichpatchx][whichpatchz][m];
 327                         if (k < Object::objects.size()) {
 328                             if (Object::objects[k]->possible) {
 329                                 friction = Object::objects[k]->friction;
 330                                 XYZ start = joints[i].realoldposition;
 331                                 XYZ end = joints[i].position * (*scale) + *coords;
 332                                 whichhit = Object::objects[k]->model.LineCheckPossible(&start, &end, &temp, &Object::objects[k]->position, &Object::objects[k]->yaw);
 333                                 if (whichhit != -1) {
 334                                     if (joints[i].label == groin && !joints[i].locked && joints[i].delay <= 0) {
 335                                         joints[i].locked = 1;
 336                                         joints[i].delay = 1;
 337                                         if (!Tutorial::active || id == 0) {
 338                                             emit_sound_at(landsound1, joints[i].position * (*scale) + *coords, 128.);
 339                                         }
 340                                         breaking = true;
 341                                     }
 342
 343                                     if (joints[i].label == head && !joints[i].locked && joints[i].delay <= 0) {
 344                                         joints[i].locked = 1;
 345                                         joints[i].delay = 1;
 346                                         if (!Tutorial::active || id == 0) {
 347                                             emit_sound_at(landsound2, joints[i].position * (*scale) + *coords, 128.);
 348                                         }
 349                                     }
 350
 351                                     terrainnormal = DoRotation(Object::objects[k]->model.facenormals[whichhit], 0, Object::objects[k]->yaw, 0) * -1;
 352                                     if (terrainnormal.y > .8)
 353                                         freefall = 0;
 354                                     bounceness = terrainnormal * findLength(&joints[i].velocity) * (abs(normaldotproduct(joints[i].velocity, terrainnormal)));
 355                                     if (findLengthfast(&joints[i].velocity) > findLengthfast(&joints[i].oldvelocity)) {
 356                                         bounceness = 0;
 357                                         joints[i].velocity = joints[i].oldvelocity;
 358                                     }
 359                                     if (!Tutorial::active || id == 0)
 360                                         if (findLengthfast(&bounceness) > 4000 && breaking) {
 361                                             Object::objects[k]->model.MakeDecal(breakdecal, DoRotation(temp - Object::objects[k]->position, 0, -Object::objects[k]->yaw, 0), .4, .5, Random() % 360);
 362                                             Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, 1, 1, 1, 4, .2);
 363                                             breaking = false;
 364                                             camerashake += .6;
 365
 366                                             emit_sound_at(breaksound2, joints[i].position * (*scale) + *coords);
 367
 368                                             addEnvSound(*coords, 64);
 369                                         }
 370                                     if (Object::objects[k]->type == treetrunktype) {
 371                                         Object::objects[k]->rotx += joints[i].velocity.x * multiplier * .4;
 372                                         Object::objects[k]->roty += joints[i].velocity.z * multiplier * .4;
 373                                         Object::objects[k + 1]->rotx += joints[i].velocity.x * multiplier * .4;
 374                                         Object::objects[k + 1]->roty += joints[i].velocity.z * multiplier * .4;
 375                                     }
 376                                     if (!joints[i].locked)
 377                                         damage += findLengthfast(&bounceness) / 2500;
 378                                     ReflectVector(&joints[i].velocity, &terrainnormal);
 379                                     frictionness = abs(normaldotproduct(joints[i].velocity, terrainnormal));
 380                                     joints[i].velocity -= bounceness;
 381                                     if (1 - friction * frictionness > 0)
 382                                         joints[i].velocity *= 1 - friction * frictionness;
 383                                     else
 384                                         joints[i].velocity = 0;
 385                                     if (findLengthfast(&bounceness) > 2500) {
 386                                         Normalise(&bounceness);
 387                                         bounceness = bounceness * 50;
 388                                     }
 389                                     joints[i].velocity += bounceness * elasticity;
 390
 391
 392                                     if (!joints[i].locked)
 393                                         if (findLengthfast(&joints[i].velocity) < 1) {
 394                                             joints[i].locked = 1;
 395                                         }
 396                                     if (findLengthfast(&bounceness) > 500)
 397                                         Sprite::MakeSprite(cloudsprite, joints[i].position * (*scale) + *coords, joints[i].velocity * .06, 1, 1, 1, .5, .2);
 398                                     joints[i].position = (temp - *coords) / (*scale) + terrainnormal * .005;
 399                                     if (longdead > 100)
 400                                         broken = 1;
 401                                 }
 402                             }
 403                         }
 404                     }
 405                 joints[i].realoldposition = joints[i].position * (*scale) + *coords;
 406             }
 407         }
 408         multiplier = tempmult;
 409
 410
 411         if (terrain.patchobjectnum[whichpatchx][whichpatchz])
 412             for (m = 0; m < terrain.patchobjectnum[whichpatchx][whichpatchz]; m++) {
 413                 unsigned int k = terrain.patchobjects[whichpatchx][whichpatchz][m];
 414                 if (Object::objects[k]->possible) {
 415                     for (i = 0; i < 26; i++) {
 416                         //Make this less stupid
 417                         XYZ start = joints[jointlabels[whichjointstartarray[i]]].position * (*scale) + *coords;
 418                         XYZ end = joints[jointlabels[whichjointendarray[i]]].position * (*scale) + *coords;
 419                         whichhit = Object::objects[k]->model.LineCheckSlidePossible(&start, &end, &Object::objects[k]->position, &Object::objects[k]->yaw);
 420                         if (whichhit != -1) {
 421                             joints[jointlabels[whichjointendarray[i]]].position = (end - *coords) / (*scale);
 422                             for (unsigned j = 0; j < muscles.size(); j++) {
 423                                 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]))
 424                                     muscles[j].DoConstraint(spinny);
 425                             }
 426                         }
 427                     }
 428                 }
 429             }
 430
 431         for (i = 0; i < joints.size(); i++) {
 432             switch (joints[i].label) {
 433             case head:
 434                 groundlevel = .8;
 435                 break;
 436             case righthand:
 437             case rightwrist:
 438             case rightelbow:
 439             case lefthand:
 440             case leftwrist:
 441             case leftelbow:
 442                 groundlevel = .2;
 443                 break;
 444             default:
 445                 groundlevel = .15;
 446                 break;
 447             }
 448             joints[i].position.y += groundlevel;
 449             joints[i].mass = 1;
 450             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)
 451                 joints[i].mass = 2;
 452             if (joints[i].locked) {
 453                 joints[i].mass = 4;
 454             }
 455         }
 456
 457         return damage;
 458     }
 459
 460     if (!free) {
 461         for (i = 0; i < muscles.size(); i++) {
 462             if (muscles[i].type == boneconnect)
 463                 muscles[i].DoConstraint(0);
 464         }
 465     }
 466
 467     return 0;
 468 }
 469
 470 /* EFFECT
 471  * applies gravity to the skeleton
 472  *
 473  * USES:
 474  * Person/Person::DoStuff
 475  */
 476 void Skeleton::DoGravity(float *scale)
 477 {
 478     for (unsigned i = 0; i < joints.size(); i++) {
 479         if (
 480                 (
 481                     ((joints[i].label != leftknee) && (joints[i].label != rightknee)) ||
 482                     (lowforward.y > -.1) ||
 483                     (joints[i].mass < 5)
 484                 ) && (
 485                     ((joints[i].label != leftelbow) && (joints[i].label != rightelbow)) ||
 486                     (forward.y < .3)
 487                 )
 488             ) {
 489             joints[i].velocity.y += gravity * multiplier / (*scale);
 490         }
 491     }
 492 }
 493
 494 /* EFFECT
 495  * set muscles[which].rotate1
 496  *     .rotate2
 497  *     .rotate3
 498  *
 499  * special case if animation == hanganim
 500  */
 501 void Skeleton::FindRotationMuscle(int which, int animation)
 502 {
 503     XYZ p1, p2, fwd;
 504     float dist;
 505
 506     p1 = muscles[which].parent1->position;
 507     p2 = muscles[which].parent2->position;
 508     dist = findDistance(&p1, &p2);
 509     if (p1.y - p2.y <= dist)
 510         muscles[which].rotate2 = asin((p1.y - p2.y) / dist);
 511     if (p1.y - p2.y > dist)
 512         muscles[which].rotate2 = asin(1.f);
 513     muscles[which].rotate2 *= 360.0 / 6.2831853;
 514
 515     p1.y = 0;
 516     p2.y = 0;
 517     dist = findDistance(&p1, &p2);
 518     if (p1.z - p2.z <= dist)
 519         muscles[which].rotate1 = acos((p1.z - p2.z) / dist);
 520     if (p1.z - p2.z > dist)
 521         muscles[which].rotate1 = acos(1.f);
 522     muscles[which].rotate1 *= 360.0 / 6.2831853;
 523     if (p1.x > p2.x)
 524         muscles[which].rotate1 = 360 - muscles[which].rotate1;
 525     if (!isnormal(muscles[which].rotate1))
 526         muscles[which].rotate1 = 0;
 527     if (!isnormal(muscles[which].rotate2))
 528         muscles[which].rotate2 = 0;
 529
 530     const int label1 = muscles[which].parent1->label;
 531     const int label2 = muscles[which].parent2->label;
 532     switch (label1) {
 533     case head:
 534         fwd = specialforward[0];
 535         break;
 536     case rightshoulder:
 537     case rightelbow:
 538     case rightwrist:
 539     case righthand:
 540         fwd = specialforward[1];
 541         break;
 542     case leftshoulder:
 543     case leftelbow:
 544     case leftwrist:
 545     case lefthand:
 546         fwd = specialforward[2];
 547         break;
 548     case righthip:
 549     case rightknee:
 550     case rightankle:
 551     case rightfoot:
 552         fwd = specialforward[3];
 553         break;
 554     case lefthip:
 555     case leftknee:
 556     case leftankle:
 557     case leftfoot:
 558         fwd = specialforward[4];
 559         break;
 560     default:
 561         if (muscles[which].parent1->lower)
 562             fwd = lowforward;
 563         else
 564             fwd = forward;
 565         break;
 566     }
 567
 568     if (animation == hanganim) {
 569         if (label1 == righthand || label2 == righthand) {
 570             fwd = 0;
 571             fwd.x = -1;
 572         }
 573         if (label1 == lefthand || label2 == lefthand) {
 574             fwd = 0;
 575             fwd.x = 1;
 576         }
 577     }
 578
 579     if (free == 0) {
 580         if (label1 == rightfoot || label2 == rightfoot) {
 581             fwd.y -= .3;
 582         }
 583         if (label1 == leftfoot || label2 == leftfoot) {
 584             fwd.y -= .3;
 585         }
 586     }
 587
 588     fwd = DoRotation(fwd, 0, muscles[which].rotate1 - 90, 0);
 589     fwd = DoRotation(fwd, 0, 0, muscles[which].rotate2 - 90);
 590     fwd.y = 0;
 591     fwd /= findLength(&fwd);
 592     if (fwd.z <= 1 && fwd.z >= -1)
 593         muscles[which].rotate3 = acos(0 - fwd.z);
 594     else
 595         muscles[which].rotate3 = acos(-1.f);
 596     muscles[which].rotate3 *= 360.0 / 6.2831853;
 597     if (0 > fwd.x)
 598         muscles[which].rotate3 = 360 - muscles[which].rotate3;
 599     if (!isnormal(muscles[which].rotate3))
 600         muscles[which].rotate3 = 0;
 601 }
 602
 603 /* EFFECT
 604  * load skeleton
 605  * takes filenames for three skeleton files and various models
 606  */
 607 void Skeleton::Load(const std::string& filename,       const std::string& lowfilename, const std::string& clothesfilename,
 608                     const std::string& modelfilename,  const std::string& model2filename,
 609                     const std::string& model3filename, const std::string& model4filename,
 610                     const std::string& model5filename, const std::string& model6filename,
 611                     const std::string& model7filename, const std::string& modellowfilename,
 612                     const std::string& modelclothesfilename, bool clothes)
 613 {
 614     GLfloat M[16];
 615     FILE *tfile;
 616     float lSize;
 617     int j, num_joints, num_muscles;
 618
 619     LOGFUNC;
 620
 621     num_models = 7;
 622
 623     // load various models
 624     // rotate, scale, do normals, do texcoords for each as needed
 625
 626     model[0].loadnotex(modelfilename);
 627     model[1].loadnotex(model2filename);
 628     model[2].loadnotex(model3filename);
 629     model[3].loadnotex(model4filename);
 630     model[4].loadnotex(model5filename);
 631     model[5].loadnotex(model6filename);
 632     model[6].loadnotex(model7filename);
 633
 634     for (int i = 0; i < num_models; i++) {
 635         model[i].Rotate(180, 0, 0);
 636         model[i].Scale(.04, .04, .04);
 637         model[i].CalculateNormals(0);
 638     }
 639
 640     drawmodel.load(modelfilename);
 641     drawmodel.Rotate(180, 0, 0);
 642     drawmodel.Scale(.04, .04, .04);
 643     drawmodel.FlipTexCoords();
 644     if ((Tutorial::active) && (id != 0)) {
 645         drawmodel.UniformTexCoords();
 646         drawmodel.ScaleTexCoords(0.1);
 647     }
 648     drawmodel.CalculateNormals(0);
 649
 650     modellow.loadnotex(modellowfilename);
 651     modellow.Rotate(180, 0, 0);
 652     modellow.Scale(.04, .04, .04);
 653     modellow.CalculateNormals(0);
 654
 655     drawmodellow.load(modellowfilename);
 656     drawmodellow.Rotate(180, 0, 0);
 657     drawmodellow.Scale(.04, .04, .04);
 658     drawmodellow.FlipTexCoords();
 659     if (Tutorial::active && id != 0)
 660         drawmodellow.UniformTexCoords();
 661     if (Tutorial::active && id != 0)
 662         drawmodellow.ScaleTexCoords(0.1);
 663     drawmodellow.CalculateNormals(0);
 664
 665     if (clothes) {
 666         modelclothes.loadnotex(modelclothesfilename);
 667         modelclothes.Rotate(180, 0, 0);
 668         modelclothes.Scale(.041, .04, .041);
 669         modelclothes.CalculateNormals(0);
 670
 671         drawmodelclothes.load(modelclothesfilename);
 672         drawmodelclothes.Rotate(180, 0, 0);
 673         drawmodelclothes.Scale(.04, .04, .04);
 674         drawmodelclothes.FlipTexCoords();
 675         drawmodelclothes.CalculateNormals(0);
 676     }
 677
 678     // FIXME: three similar blocks follow, one for each of:
 679     // filename, lowfilename, clothesfilename
 680
 681     // load skeleton
 682
 683     tfile = Folders::openMandatoryFile( Folders::getResourcePath(filename), "rb" );
 684
 685     // read num_joints
 686     funpackf(tfile, "Bi", &num_joints);
 687
 688     joints.resize(num_joints);
 689
 690     // read info for each joint
 691     for (int i = 0; i < num_joints; i++) {
 692         joints[i].load(tfile, joints);
 693     }
 694
 695     // read num_muscles
 696     funpackf(tfile, "Bi", &num_muscles);
 697
 698     // allocate memory
 699     muscles.resize(num_muscles);
 700
 701     // for each muscle...
 702     for (int i = 0; i < num_muscles; i++) {
 703         muscles[i].load(tfile, model[0].vertexNum, joints);
 704     }
 705
 706     // read forwardjoints (?)
 707     for (j = 0; j < 3; j++) {
 708         funpackf(tfile, "Bi", &forwardjoints[j]);
 709     }
 710     // read lowforwardjoints (?)
 711     for (j = 0; j < 3; j++) {
 712         funpackf(tfile, "Bi", &lowforwardjoints[j]);
 713     }
 714
 715     // ???
 716     for (j = 0; j < num_muscles; j++) {
 717         for (unsigned i = 0; i < muscles[j].vertices.size(); i++) {
 718             for (int k = 0; k < num_models; k++) {
 719                 if (muscles[j].vertices[i] < model[k].vertexNum) {
 720                     model[k].owner[muscles[j].vertices[i]] = j;
 721                 }
 722             }
 723         }
 724     }
 725
 726     // calculate some stuff
 727     FindForwards();
 728     for (int 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 (int 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 (int 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 (int 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 (unsigned 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
 807     // use opengl for its matrix math
 808     for (int i = 0; i < modellow.vertexNum; i++) {
 809         modellow.vertex[i] = modellow.vertex[i] - (muscles[modellow.owner[i]].parent1->position + muscles[modellow.owner[i]].parent2->position) / 2;
 810         glMatrixMode(GL_MODELVIEW);
 811         glPushMatrix();
 812         glLoadIdentity();
 813         glRotatef(muscles[modellow.owner[i]].rotate3, 0, 1, 0);
 814         glRotatef(muscles[modellow.owner[i]].rotate2 - 90, 0, 0, 1);
 815         glRotatef(muscles[modellow.owner[i]].rotate1 - 90, 0, 1, 0);
 816         glTranslatef(modellow.vertex[i].x, modellow.vertex[i].y, modellow.vertex[i].z);
 817         glGetFloatv(GL_MODELVIEW_MATRIX, M);
 818         modellow.vertex[i].x = M[12];
 819         modellow.vertex[i].y = M[13];
 820         modellow.vertex[i].z = M[14];
 821         glPopMatrix();
 822     }
 823
 824     modellow.CalculateNormals(0);
 825
 826     // load clothes
 827
 828     if (clothes) {
 829         tfile = Folders::openMandatoryFile( Folders::getResourcePath(clothesfilename), "rb" );
 830
 831         // skip num_joints
 832         fseek(tfile, sizeof(num_joints), SEEK_CUR);
 833
 834         for (int i = 0; i < num_joints; i++) {
 835             // skip joint info
 836             lSize = sizeof(XYZ)
 837                     + sizeof(float)
 838                     + sizeof(float)
 839                     + 1 //sizeof(bool)
 840                     + 1 //sizeof(bool)
 841                     + sizeof(int)
 842                     + 1 //sizeof(bool)
 843                     + 1 //sizeof(bool)
 844                     + sizeof(int)
 845                     + sizeof(int)
 846                     + 1 //sizeof(bool)
 847                     + sizeof(int);
 848             fseek(tfile, lSize, SEEK_CUR);
 849         }
 850
 851         // skip num_muscles
 852         fseek(tfile, sizeof(num_muscles), SEEK_CUR);
 853
 854         for (int i = 0; i < num_muscles; i++) {
 855             // skip muscle info
 856             lSize = sizeof(float)
 857                     + sizeof(float)
 858                     + sizeof(float)
 859                     + sizeof(float)
 860                     + sizeof(float)
 861                     + sizeof(int);
 862             fseek(tfile, lSize, SEEK_CUR);
 863
 864             muscles[i].loadVerticesClothes(tfile, modelclothes.vertexNum);
 865
 866             // skip more stuff
 867             lSize = 1; //sizeof(bool);
 868             fseek ( tfile, lSize, SEEK_CUR);
 869             lSize = sizeof(int);
 870             fseek ( tfile, lSize, SEEK_CUR);
 871             fseek ( tfile, lSize, SEEK_CUR);
 872         }
 873
 874         // ???
 875         lSize = sizeof(int);
 876         for (j = 0; j < num_muscles; j++) {
 877             for (unsigned i = 0; i < muscles[j].verticesclothes.size(); i++) {
 878                 if (muscles[j].verticesclothes.size() && muscles[j].verticesclothes[i] < modelclothes.vertexNum) {
 879                     modelclothes.owner[muscles[j].verticesclothes[i]] = j;
 880                 }
 881             }
 882         }
 883
 884         // use opengl for its matrix math
 885         for (int i = 0; i < modelclothes.vertexNum; i++) {
 886             modelclothes.vertex[i] = modelclothes.vertex[i] - (muscles[modelclothes.owner[i]].parent1->position + muscles[modelclothes.owner[i]].parent2->position) / 2;
 887             glMatrixMode(GL_MODELVIEW);
 888             glPushMatrix();
 889             glLoadIdentity();
 890             glRotatef(muscles[modelclothes.owner[i]].rotate3, 0, 1, 0);
 891             glRotatef(muscles[modelclothes.owner[i]].rotate2 - 90, 0, 0, 1);
 892             glRotatef(muscles[modelclothes.owner[i]].rotate1 - 90, 0, 1, 0);
 893             glTranslatef(modelclothes.vertex[i].x, modelclothes.vertex[i].y, modelclothes.vertex[i].z);
 894             glGetFloatv(GL_MODELVIEW_MATRIX, M);
 895             modelclothes.vertex[i].x = M[12];
 896             modelclothes.vertex[i].y = M[13];
 897             modelclothes.vertex[i].z = M[14];
 898             glPopMatrix();
 899         }
 900
 901         modelclothes.CalculateNormals(0);
 902     }
 903     fclose(tfile);
 904
 905     for (int i = 0; i < num_joints; i++) {
 906         for (j = 0; j < num_joints; j++) {
 907             if (joints[i].label == j)
 908                 jointlabels[j] = i;
 909         }
 910     }
 911
 912     free = 0;
 913 }