IK.h

Go to the documentation of this file.

/*
===========================================================================

Doom 3 GPL Source Code
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company. 

This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).  

Doom 3 Source Code is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

Doom 3 Source Code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Doom 3 Source Code.  If not, see <http://www.gnu.org/licenses/>.

In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code.  If not, please request a copy in writing from id Software at the address below.

If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.

===========================================================================
*/

#ifndef __GAME_IK_H__
#define __GAME_IK_H__

/*
===============================================================================

  IK base class with a simple fast two bone solver.

===============================================================================
*/

#define IK_ANIM                         "ik_pose"

class idIK {
public:
                                                        idIK( void );
        virtual                                 ~idIK( void );

        void                                    Save( idSaveGame *savefile ) const;
        void                                    Restore( idRestoreGame *savefile );

        bool                                    IsInitialized( void ) const;

        virtual bool                    Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
        virtual void                    Evaluate( void );
        virtual void                    ClearJointMods( void );

        bool                                    SolveTwoBones( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, float len0, float len1, idVec3 &jointPos );
        float                                   GetBoneAxis( const idVec3 &startPos, const idVec3 &endPos, const idVec3 &dir, idMat3 &axis );

protected:
        bool                                    initialized;
        bool                                    ik_activate;
        idEntity *                              self;                           // entity using the animated model
        idAnimator *                    animator;                       // animator on entity
        int                                             modifiedAnim;           // animation modified by the IK
        idVec3                                  modelOffset;
};


/*
===============================================================================

  IK controller for a walking character with an arbitrary number of legs.       

===============================================================================
*/

class idIK_Walk : public idIK {
public:

                                                        idIK_Walk( void );
        virtual                                 ~idIK_Walk( void );

        void                                    Save( idSaveGame *savefile ) const;
        void                                    Restore( idRestoreGame *savefile );

        virtual bool                    Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
        virtual void                    Evaluate( void );
        virtual void                    ClearJointMods( void );

        void                                    EnableAll( void );
        void                                    DisableAll( void );
        void                                    EnableLeg( int num );
        void                                    DisableLeg( int num );

private:
        static const int                MAX_LEGS                = 8;

        idClipModel *                   footModel;

        int                                             numLegs;
        int                                             enabledLegs;
        jointHandle_t                   footJoints[MAX_LEGS];
        jointHandle_t                   ankleJoints[MAX_LEGS];
        jointHandle_t                   kneeJoints[MAX_LEGS];
        jointHandle_t                   hipJoints[MAX_LEGS];
        jointHandle_t                   dirJoints[MAX_LEGS];
        jointHandle_t                   waistJoint;

        idVec3                                  hipForward[MAX_LEGS];
        idVec3                                  kneeForward[MAX_LEGS];

        float                                   upperLegLength[MAX_LEGS];
        float                                   lowerLegLength[MAX_LEGS];

        idMat3                                  upperLegToHipJoint[MAX_LEGS];
        idMat3                                  lowerLegToKneeJoint[MAX_LEGS];

        float                                   smoothing;
        float                                   waistSmoothing;
        float                                   footShift;
        float                                   waistShift;
        float                                   minWaistFloorDist;
        float                                   minWaistAnkleDist;
        float                                   footUpTrace;
        float                                   footDownTrace;
        bool                                    tiltWaist;
        bool                                    usePivot;

        // state
        int                                             pivotFoot;
        float                                   pivotYaw;
        idVec3                                  pivotPos;
        bool                                    oldHeightsValid;
        float                                   oldWaistHeight;
        float                                   oldAnkleHeights[MAX_LEGS];
        idVec3                                  waistOffset;
};


/*
===============================================================================

  IK controller for reaching a position with an arm or leg.

===============================================================================
*/

class idIK_Reach : public idIK {
public:

                                                        idIK_Reach( void );
        virtual                                 ~idIK_Reach( void );

        void                                    Save( idSaveGame *savefile ) const;
        void                                    Restore( idRestoreGame *savefile );

        virtual bool                    Init( idEntity *self, const char *anim, const idVec3 &modelOffset );
        virtual void                    Evaluate( void );
        virtual void                    ClearJointMods( void );

private:

        static const int                MAX_ARMS        = 2;

        int                                             numArms;
        int                                             enabledArms;
        jointHandle_t                   handJoints[MAX_ARMS];
        jointHandle_t                   elbowJoints[MAX_ARMS];
        jointHandle_t                   shoulderJoints[MAX_ARMS];
        jointHandle_t                   dirJoints[MAX_ARMS];

        idVec3                                  shoulderForward[MAX_ARMS];
        idVec3                                  elbowForward[MAX_ARMS];

        float                                   upperArmLength[MAX_ARMS];
        float                                   lowerArmLength[MAX_ARMS];

        idMat3                                  upperArmToShoulderJoint[MAX_ARMS];
        idMat3                                  lowerArmToElbowJoint[MAX_ARMS];
};

#endif /* !__GAME_IK_H__ */