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/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program 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.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#include "plAvCallbackAction.h"
#include "plMessage/plLOSHitMsg.h"
#include "plArmatureMod.h" // for LOS enum type
#include "plMatrixChannel.h"
#include "hsTimer.h"
#include "plPhysicalControllerCore.h"
// Generic geom utils.
hsBool LinearVelocity(hsVector3 &outputV, float elapsed, hsMatrix44 &prevMat, hsMatrix44 &curMat);
void AngularVelocity(hsScalar &outputV, float elapsed, hsMatrix44 &prevMat, hsMatrix44 &curMat);
float AngleRad2d (float x1, float y1, float x3, float y3);
inline hsVector3 GetYAxis(hsMatrix44 &mat)
{
return hsVector3(mat.fMap[1][0], mat.fMap[1][1], mat.fMap[1][2]);
}
plAnimatedController::plAnimatedController(plSceneObject* rootObject, plAGApplicator* rootApp, plPhysicalControllerCore* controller)
: fRootObject(rootObject)
, fRootApp(rootApp)
, fController(controller)
, fTurnStr(0.f)
, fAnimAngVel(0.f)
, fAnimPosVel(0.f, 0.f, 0.f)
{
}
void plAnimatedController::RecalcVelocity(double timeNow, double timePrev, hsBool useAnim /* = true */)
{
if (useAnim)
{
// while you may think it would be correct to cache this,
// what we're actually asking is "what would the animation's
// position be at the previous time given its *current*
// parameters (particularly blends)"
hsMatrix44 prevMat = ((plMatrixChannel *)fRootApp->GetChannel())->Value(timePrev, true);
hsMatrix44 curMat = ((plMatrixChannel *)fRootApp->GetChannel())->Value(timeNow, true);
// If we get a valid linear velocity (ie, we didn't wrap around in the anim),
// use it. Otherwise just reuse the previous frames velocity.
hsVector3 linearVel;
if (LinearVelocity(linearVel, (float)(timeNow - timePrev), prevMat, curMat))
fAnimPosVel = linearVel;
// Automatically sets fAnimAngVel
AngularVelocity(fAnimAngVel, (float)(timeNow - timePrev), prevMat, curMat);
}
else
{
fAnimPosVel.Set(0.f, 0.f, 0.f);
fAnimAngVel = 0.f;
}
if (fController)
fController->SetVelocities(fAnimPosVel, fAnimAngVel + fTurnStr);
}
///////////////////////////////////////////////////////////////////////////
const hsScalar plWalkingController::kControlledFlightThreshold = 1.f; // seconds
plWalkingController::plWalkingController(plSceneObject* rootObject, plAGApplicator* rootApp, plPhysicalControllerCore* controller)
: plAnimatedController(rootObject, rootApp, controller)
, fHitGroundInThisAge(false)
, fWaitingForGround(false)
, fControlledFlightTime(0)
, fControlledFlight(0)
, fImpactTime(0.f)
, fImpactVelocity(0.f, 0.f, 0.f)
, fClearImpact(false)
, fGroundLastFrame(false)
{
if (fController)
{
fWalkingStrategy= TRACKED_NEW plWalkingStrategy(fController);
fController->SetMovementSimulationInterface(fWalkingStrategy);
}
else
fWalkingStrategy = nil;
}
void plWalkingController::RecalcVelocity(double timeNow, double timePrev, hsBool useAnim)
{
if (!fHitGroundInThisAge && fController && fController->IsEnabled() && fWalkingStrategy->IsOnGround())
fHitGroundInThisAge = true; // if we're not pinned and we're not in an age yet, we are now.
if (fClearImpact)
{
fImpactTime = 0.f;
fImpactVelocity.Set(0.f, 0.f, 0.f);
}
if (fController && !fWalkingStrategy->IsOnGround())
{
fImpactTime = fWalkingStrategy->GetAirTime();
fImpactVelocity = fController->GetLinearVelocity();
fClearImpact = false;
}
else
fClearImpact = true;
if (IsControlledFlight())
{
if (fWalkingStrategy && fWalkingStrategy->IsOnGround())
fControlledFlightTime = fWalkingStrategy->GetAirTime();
if(fGroundLastFrame&&(fWalkingStrategy && !fWalkingStrategy->IsOnGround()))
{
//we have started to leave the ground tell the movement strategy in case it cares
fWalkingStrategy->StartJump();
}
if (fControlledFlightTime > kControlledFlightThreshold)
EnableControlledFlight(false);
}
if (fWalkingStrategy)
fGroundLastFrame = fWalkingStrategy->IsOnGround();
else
fGroundLastFrame=false;
plAnimatedController::RecalcVelocity(timeNow, timePrev, useAnim);
}
void plWalkingController::Reset(bool newAge)
{
ActivateController();
if (newAge)
{
if (fWalkingStrategy)
fWalkingStrategy->ResetAirTime();
fHitGroundInThisAge = false;
}
}
void plWalkingController::ActivateController()
{
if (fWalkingStrategy)
{
fWalkingStrategy->RefreshConnectionToControllerCore();
}
else
{
fWalkingStrategy= TRACKED_NEW plWalkingStrategy(fController);
fWalkingStrategy->RefreshConnectionToControllerCore();
}
}
bool plWalkingController::EnableControlledFlight(bool status)
{
if (status)
{
if (fControlledFlight == 0)
fControlledFlightTime = 0.f;
++fControlledFlight;
fWaitingForGround = true;
}
else
fControlledFlight = __max(--fControlledFlight, 0);
return status;
}
plWalkingController::~plWalkingController()
{
delete fWalkingStrategy;
if (fController)
fController->SetMovementSimulationInterface(nil);
}
#if 0
void plWalkingController::Update()
{
// double elapsed = time.asDouble() - getRefresh().asDouble();
// setRefresh(time);
//
// hsBool isPhysical = !fPhysical->GetProperty(plSimulationInterface::kPinned);
// const Havok::Vector3 straightUp(0.0f, 0.0f, 1.0f);
// hsBool alreadyInAge = fHitGroundInThisAge;
//
// int numContacts = fPhysical->GetNumContacts();
// bool ground = false;
// fPushingPhysical = nil;
// int i, j;
/* for(i = 0; i < numContacts; i++)
{
plHKPhysical *contactPhys = fPhysical->GetContactPhysical(i);
if (!contactPhys)
continue; // Physical no longer exists. Skip it.
const Havok::ContactPoint *contact = fPhysical->GetContactPoint(i);
hsScalar dotUp = straightUp.dot(contact->m_normal);
if (dotUp > .5)
ground = true;
else if (contactPhys->GetProperty(plSimulationInterface::kAvAnimPushable))
{
hsPoint3 position;
hsQuat rotation;
fPhysical->GetPositionAndRotationSim(&position, &rotation);
hsQuat inverseRotation = rotation.Inverse();
hsVector3 normal(contact->m_normal.x, contact->m_normal.y, contact->m_normal.z);
fFacingPushingPhysical = (inverseRotation.Rotate(&kAvatarForward).InnerProduct(normal) < 0 ? true : false);
fPushingPhysical = contactPhys;
}
}
// We need to check for the case where the avatar hasn't collided with "ground", but is colliding
// with a few other objects so that he's not actually falling (wedged in between some slopes).
// We do this by answering the following question (in 2d top-down space): "If you sort the contact
// normals by angle, is there a large enough gap between normals?"
//
// If you think in terms of geometry, this means a collection of surfaces are all pushing on you.
// If they're pushing from all sides, you have nowhere to go, and you won't fall. There needs to be
// a gap, so that you're pushed out and have somewhere to fall. This is the same as finding a gap
// larger than 180 degrees between sorted normals.
//
// The problem is that on top of that, the avatar needs enough force to shove him out that gap (he
// has to overcome friction). I deal with that by making the threshold (360 - (180 - 60) = 240). I've
// seen up to 220 reached in actual gameplay in a situation where we'd want this to take effect.
// This is the same running into 2 walls where the angle between them is 60.
const hsScalar threshold = hsScalarDegToRad(240);
if (!ground && numContacts >= 2)
{
// Can probably do a special case for exactly 2 contacts. Not sure if it's worth it...
fCollisionAngles.SetCount(numContacts);
for (i = 0; i < numContacts; i++)
{
const Havok::ContactPoint *contact = fPhysical->GetContactPoint(i);
fCollisionAngles[i] = hsATan2(contact->m_normal.y, contact->m_normal.x);
}
// numContacts is rarely larger than 6, so let's do a simple bubble sort.
for (i = 0; i < numContacts; i++)
{
for (j = i + 1; j < numContacts; j++)
{
if (fCollisionAngles[i] > fCollisionAngles[j])
{
hsScalar tempAngle = fCollisionAngles[i];
fCollisionAngles[i] = fCollisionAngles[j];
fCollisionAngles[j] = tempAngle;
}
}
}
// sorted, now we check.
for (i = 1; i < numContacts; i++)
{
if (fCollisionAngles[i] - fCollisionAngles[i - 1] >= threshold)
break;
}
if (i == numContacts)
{
// We got to the end. Check the last with the first and make your decision.
if (!(fCollisionAngles[0] - fCollisionAngles[numContacts - 1] >= (threshold - 2 * hsScalarPI)))
ground = true;
}
}
*/
bool ground = fController ? fController->GotGroundHit() : true;
bool isPhysical = true;
if (!fHitGroundInThisAge && isPhysical)
fHitGroundInThisAge = true; // if we're not pinned and we're not in an age yet, we are now.
if (IsControlledFlight())
fControlledFlightTime += (hsScalar)elapsed;
if (fControlledFlightTime > kControlledFlightThreshold && numContacts > 0)
EnableControlledFlight(false);
if (ground || !isPhysical)
{
if (!IsControlledFlight() && !IsOnGround())
{
// The first ground contact in an age doesn't count.
// if (alreadyInAge)
// {
// hsVector3 vel;
// fPhysical->GetLinearVelocitySim(vel);
// fImpactVel = vel.fZ;
// fTimeInAirPeak = (hsScalar)(fTimeInAir + elapsed);
// }
fWaitingForGround = false;
}
fTimeInAir = 0;
}
else if (elapsed < plSimulationMgr::GetInstance()->GetMaxDelta())
{
// If the simultation skipped a huge chunk of time, we didn't process the
// collisions, which could trick us into thinking we've just gone a long
// time without hitting ground. So we only count the time if this wasn't
// the case.
fTimeInAir += (hsScalar)elapsed;
}
// Tweakage so that we still fall under the right conditions.
// If we're in controlled flight, or standing still with ground solidly under us (probe hit). We only use anim velocity.
// if (!IsControlledFlight() && !(ground && fProbeHitGround && fAnimPosVel.fX == 0 && fAnimPosVel.fY == 0))
// {
// hsVector3 curV;
// fPhysical->GetLinearVelocitySim(curV);
// fAnimPosVel.fZ = curV.fZ;
//
// // Prevents us from going airborn from running up bumps/inclines.
// if (IsOnGround() && fAnimPosVel.fZ > 0.f)
// fAnimPosVel.fZ = 0.f;
//
// // Unless we're on the ground and moving, or standing still with a probe hit, we use the sim's other axes too.
// if (!(IsOnGround() && (fProbeHitGround || fAnimPosVel.fX != 0 || fAnimPosVel.fY != 0)))
// {
// fAnimPosVel.fX = curV.fX;
// fAnimPosVel.fY = curV.fY;
// }
// }
//
// fPhysical->SetLinearVelocitySim(fAnimPosVel);
// fPhysical->SetSpin(fAnimAngVel + fTurnStr, hsVector3(0.0f, 0.0f, 1.0f));
}
#endif
#if 0
/////////////////////////////////////////////////////////////////////////
plSimDefs::ActionType plHorizontalFreezeAction::GetType()
{
return plSimDefs::kHorizontalFreeze;
}
void plHorizontalFreezeAction::apply(Havok::Subspace &s, Havok::hkTime time)
{
double elapsed = time.asDouble() - getRefresh().asDouble();
setRefresh(time);
int numContacts = fPhysical->GetNumContacts();
bool ground = false;
const Havok::Vector3 straightUp(0.0f, 0.0f, 1.0f);
int i;
for(i = 0; i < numContacts; i++)
{
const Havok::ContactPoint *contact = fPhysical->GetContactPoint(i);
hsScalar dotUp = straightUp.dot(contact->m_normal);
if (dotUp > .5)
ground = true;
}
hsVector3 vel;
fPhysical->GetLinearVelocitySim(vel);
vel.fX = 0.0;
vel.fY = 0.0;
if (ground)
vel.fZ = 0;
fPhysical->SetLinearVelocitySim(vel);
fPhysical->ClearContacts();
}
#endif
plSwimmingController::plSwimmingController(plSceneObject* rootObject, plAGApplicator* rootApp, plPhysicalControllerCore* controller)
:plAnimatedController(rootObject,rootApp,controller)
{
if (controller)
fSwimmingStrategy= TRACKED_NEW plSwimStrategy(controller);
else
fSwimmingStrategy = nil;
}
plSwimmingController::~plSwimmingController()
{
delete fSwimmingStrategy;
}
plRidingAnimatedPhysicalController::plRidingAnimatedPhysicalController(plSceneObject* rootObject, plAGApplicator* rootApp, plPhysicalControllerCore* controller)
: plWalkingController(rootObject, rootApp, controller)
{
if(controller)
fWalkingStrategy = TRACKED_NEW plRidingAnimatedPhysicalStrategy(controller);
else
fWalkingStrategy = nil;
}
plRidingAnimatedPhysicalController::~plRidingAnimatedPhysicalController()
{
delete fWalkingStrategy;
fWalkingStrategy=nil;
}
//////////////////////////////////////////////////////////////////////////
/*
Purpose:
ANGLE_RAD_2D returns the angle in radians swept out between two rays in 2D.
Discussion:
Except for the zero angle case, it should be true that
ANGLE_RAD_2D(X1,Y1,X2,Y2,X3,Y3)
+ ANGLE_RAD_2D(X3,Y3,X2,Y2,X1,Y1) = 2 * PI
Modified:
19 April 1999
Author:
John Burkardt
Parameters:
Input, float X1, Y1, X2, Y2, X3, Y3, define the rays
( X1-X2, Y1-Y2 ) and ( X3-X2, Y3-Y2 ) which in turn define the
angle, counterclockwise from ( X1-X2, Y1-Y2 ).
Output, float ANGLE_RAD_2D, the angle swept out by the rays, measured
in radians. 0 <= ANGLE_DEG_2D < 2 PI. If either ray has zero length,
then ANGLE_RAD_2D is set to 0.
*/
static float AngleRad2d ( float x1, float y1, float x3, float y3 )
{
float value;
float x;
float y;
x = ( x1 ) * ( x3 ) + ( y1 ) * ( y3 );
y = ( x1 ) * ( y3 ) - ( y1 ) * ( x3 );
if ( x == 0.0 && y == 0.0 ) {
value = 0.0;
}
else
{
value = atan2 ( y, x );
if ( value < 0.0 )
{
value = (float)(value + TWO_PI);
}
}
return value;
}
static hsBool LinearVelocity(hsVector3 &outputV, float elapsed, hsMatrix44 &prevMat, hsMatrix44 &curMat)
{
bool result = false;
hsPoint3 startPos(0.0f, 0.0f, 0.0f); // default position (at start of anim)
hsPoint3 prevPos = prevMat.GetTranslate(); // position previous frame
hsPoint3 nowPos = curMat.GetTranslate(); // position current frame
hsVector3 prev2Now = (hsVector3)(nowPos - prevPos); // frame-to-frame delta
if (fabs(prev2Now.fX) < 0.0001f && fabs(prev2Now.fY) < 0.0001f && fabs(prev2Now.fZ) < 0.0001f)
{
outputV.Set(0.f, 0.f, 0.f);
result = true;
}
else
{
hsVector3 start2Now = (hsVector3)(nowPos - startPos); // start-to-frame delta
float prev2NowMagSqr = prev2Now.MagnitudeSquared();
float start2NowMagSqr = start2Now.MagnitudeSquared();
float dot = prev2Now.InnerProduct(start2Now);
// HANDLING ANIMATION WRAPPING:
// the vector from the animation origin to the current frame should point in roughly
// the same direction as the vector from the previous animation position to the
// current animation position.
//
// If they don't agree (dot < 0,) then we probably mpst wrapped around.
// The right answer would be to compare the current frame to the start of
// the anim loop, but it's cheaper to cheat and return false,
// telling the caller to use the previous frame's velocity.
if (dot > 0.0f)
{
prev2Now /= elapsed;
float xfabs = fabs(prev2Now.fX);
float yfabs = fabs(prev2Now.fY);
float zfabs = fabs(prev2Now.fZ);
static const float maxVel = 20.0f;
hsBool valid = xfabs < maxVel && yfabs < maxVel && zfabs < maxVel;
if (valid)
{
outputV = prev2Now;
result = true;
}
}
}
return result;
}
static void AngularVelocity(hsScalar &outputV, float elapsed, hsMatrix44 &prevMat, hsMatrix44 &curMat)
{
outputV = 0.f;
hsScalar appliedVelocity = 0.0f;
hsVector3 prevForward = GetYAxis(prevMat);
hsVector3 curForward = GetYAxis(curMat);
hsScalar angleSincePrev = AngleRad2d(curForward.fX, curForward.fY, prevForward.fX, prevForward.fY);
hsBool sincePrevSign = angleSincePrev > 0.0f;
if (angleSincePrev > hsScalarPI)
angleSincePrev = angleSincePrev - TWO_PI;
const hsVector3 startForward = hsVector3(0, -1.0, 0); // the Y orientation of a "resting" armature....
hsScalar angleSinceStart = AngleRad2d(curForward.fX, curForward.fY, startForward.fX, startForward.fY);
hsBool sinceStartSign = angleSinceStart > 0.0f;
if (angleSinceStart > hsScalarPI)
angleSinceStart = angleSinceStart - TWO_PI;
// HANDLING ANIMATION WRAPPING:
// under normal conditions, the angle from rest to the current frame will have the same
// sign as the angle from the previous frame to the current frame.
// if it does not, we have (most likely) wrapped the motivating animation from frame n back
// to frame zero, creating a large angle from the previous frame to the current one
if (sincePrevSign == sinceStartSign)
{
// signs are the same; didn't wrap; use the frame-to-frame angle difference
appliedVelocity = angleSincePrev / elapsed; // rotation / time
if (fabs(appliedVelocity) < 3)
{
outputV = appliedVelocity;
}
}
}