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