Import Cai1Hsu/re3 @ miami (reVC / GTA:VC decompilation)HEADmiami

Snapshot import (no upstream history) into git.ancap.in.ua/claude, per @lzcnt.
Source: https://github.com/Cai1Hsu/re3 branch miami.

1 files changed, 367 insertions, 0 deletions

diff --git a/src/peds/PedIK.cpp b/src/peds/PedIK.cpp
new file mode 100644
index 0000000..475e04f
--- /dev/null
+++ b/src/peds/PedIK.cpp
@@ -0,0 +1,367 @@
+#include "common.h"
+
+#include "Bones.h"
+#include "Camera.h"
+#include "PedIK.h"
+#include "Ped.h"
+#include "General.h"
+#include "RwHelper.h"
+
+LimbMovementInfo CPedIK::ms_torsoInfo = { DEGTORAD(50.0f), DEGTORAD(-50.0f), DEGTORAD(8.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
+LimbMovementInfo CPedIK::ms_headInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(15.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(8.0f) };
+LimbMovementInfo CPedIK::ms_headRestoreInfo = { DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f), DEGTORAD(45.0f), DEGTORAD(-45.0f), DEGTORAD(5.0f) };
+LimbMovementInfo CPedIK::ms_upperArmInfo = { DEGTORAD(5.0f), DEGTORAD(-120.0f), DEGTORAD(20.0f), DEGTORAD(70.0f), DEGTORAD(-70.0f), DEGTORAD(20.0f) };
+LimbMovementInfo CPedIK::ms_lowerArmInfo = { DEGTORAD(60.0f), DEGTORAD(0.0f), DEGTORAD(15.0f), DEGTORAD(90.0f), DEGTORAD(-90.0f), DEGTORAD(10.0f) };
+
+const RwV3d XaxisIK = { 1.0f, 0.0f, 0.0f};
+const RwV3d YaxisIK = { 0.0f, 1.0f, 0.0f};
+const RwV3d ZaxisIK = { 0.0f, 0.0f, 1.0f};
+
+CPedIK::CPedIK(CPed *ped)
+{
+	m_ped = ped;
+	m_flags = 0;
+	m_headOrient.yaw = 0.0f;
+	m_headOrient.pitch = 0.0f;
+	m_torsoOrient.yaw = 0.0f;
+	m_torsoOrient.pitch = 0.0f;
+	m_upperArmOrient.yaw = 0.0f;
+	m_upperArmOrient.pitch = 0.0f;
+	m_lowerArmOrient.yaw = 0.0f;
+	m_lowerArmOrient.pitch = 0.0f;
+}
+
+inline RwMatrix*
+GetBoneMatrix(CPed *ped, int32 bone)
+{
+	RpHAnimHierarchy *hier = GetAnimHierarchyFromSkinClump(ped->GetClump());
+	int idx = RpHAnimIDGetIndex(hier, bone);
+	RwMatrix *mats = RpHAnimHierarchyGetMatrixArray(hier);
+	return &mats[idx];
+}
+inline RwMatrix*
+GetComponentMatrix(CPed *ped, int32 node)
+{
+	return GetBoneMatrix(ped, ped->m_pFrames[node]->nodeID);
+}
+
+void
+CPedIK::RotateTorso(AnimBlendFrameData *node, LimbOrientation *limb, bool changeRoll)
+{
+	RtQuat *q = &node->hanimFrame->q;
+	RtQuatRotate(q, &XaxisIK, RADTODEG(limb->yaw), rwCOMBINEREPLACE);
+	RtQuatRotate(q, &ZaxisIK, RADTODEG(limb->pitch), rwCOMBINEPRECONCAT);
+	m_ped->bDontAcceptIKLookAts = true;
+}
+
+void
+CPedIK::GetComponentPosition(RwV3d &pos, uint32 node)
+{
+	pos = GetComponentMatrix(m_ped, node)->pos;
+}
+
+LimbMoveStatus
+CPedIK::MoveLimb(LimbOrientation &limb, float targetYaw, float targetPitch, LimbMovementInfo &moveInfo)
+{
+	LimbMoveStatus result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
+
+	// yaw
+
+	if(Abs(limb.yaw-targetYaw) < moveInfo.yawD){
+		limb.yaw = targetYaw;
+		result = ANGLES_SET_EXACTLY;
+	}else{
+		if (limb.yaw > targetYaw) {
+			limb.yaw -= moveInfo.yawD;
+		} else if (limb.yaw < targetYaw) {
+			limb.yaw += moveInfo.yawD;
+		}
+	}
+
+	if (limb.yaw > moveInfo.maxYaw || limb.yaw < moveInfo.minYaw) {
+		limb.yaw = clamp(limb.yaw, moveInfo.minYaw, moveInfo.maxYaw);
+		result = ANGLES_SET_TO_MAX;
+	}
+
+	// pitch
+
+	if (Abs(limb.pitch - targetPitch) < moveInfo.pitchD){
+		limb.pitch = targetPitch;
+	}else{
+		if (limb.pitch > targetPitch) {
+			limb.pitch -= moveInfo.pitchD;
+		} else if (limb.pitch < targetPitch) {
+			limb.pitch += moveInfo.pitchD;
+		}
+		result = ONE_ANGLE_COULDNT_BE_SET_EXACTLY;
+	}
+
+	if (limb.pitch > moveInfo.maxPitch || limb.pitch < moveInfo.minPitch) {
+		limb.pitch = clamp(limb.pitch, moveInfo.minPitch, moveInfo.maxPitch);
+		result = ANGLES_SET_TO_MAX;
+	}
+	return result;
+}
+
+bool
+CPedIK::RestoreGunPosn(void)
+{
+	LimbMoveStatus limbStatus = MoveLimb(m_torsoOrient, 0.0f, 0.0f, ms_torsoInfo);
+	RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
+	return limbStatus == ANGLES_SET_EXACTLY;
+}
+
+bool
+CPedIK::LookInDirection(float targetYaw, float targetPitch)
+{
+	bool success = true;
+	float yaw, pitch;
+	if (!(m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION)) {
+		m_ped->m_pFrames[PED_HEAD]->flag |= AnimBlendFrameData::IGNORE_ROTATION;
+		RwMatrix *m = GetComponentMatrix(m_ped, PED_NECK);
+		m_headOrient.yaw = Atan2(-m->at.y, -m->at.x);
+		m_headOrient.yaw -= m_ped->m_fRotationCur;
+		m_headOrient.yaw = CGeneral::LimitRadianAngle(m_headOrient.yaw);
+		float up = clamp(m->up.z, -1.0f, 1.0f);
+		m_headOrient.pitch = Atan2(-up, Sqrt(1.0f - SQR(-up)));
+	}
+
+	// parent of head is neck
+	RwMatrix *m = GetComponentMatrix(m_ped, PED_NECK);
+	yaw = CGeneral::LimitRadianAngle(Atan2(-m->at.y, -m->at.x));
+	float up = clamp(m->up.z, -1.0f, 1.0f);
+	pitch = Atan2(-up, Sqrt(1.0f - SQR(-up)));
+	float headYaw = CGeneral::LimitRadianAngle(targetYaw - (yaw + m_torsoOrient.yaw));
+	float headPitch = CGeneral::LimitRadianAngle(targetPitch - pitch) * Cos(Min(Abs(headYaw), HALFPI));
+
+	LimbMoveStatus headStatus = MoveLimb(m_headOrient, headYaw, headPitch, ms_headInfo);
+	if (headStatus == ANGLES_SET_TO_MAX)
+		success = false;
+
+	if (headStatus != ANGLES_SET_EXACTLY && !(m_flags & LOOKAROUND_HEAD_ONLY))
+		if (MoveLimb(m_torsoOrient, CGeneral::LimitRadianAngle(targetYaw-m_ped->m_fRotationCur), targetPitch, ms_torsoInfo))
+			success = true;
+
+	// This was RotateHead
+	RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
+	RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEREPLACE);
+	RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEPRECONCAT);
+	m_ped->bDontAcceptIKLookAts = true;
+
+	if (!(m_flags & LOOKAROUND_HEAD_ONLY))
+		RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
+	return success;
+}
+
+bool
+CPedIK::LookAtPosition(CVector const &pos)
+{
+	RwV3d *pedpos = &GetComponentMatrix(m_ped, PED_MID)->pos;
+	float yawToFace = CGeneral::GetRadianAngleBetweenPoints(
+		pos.x, pos.y,
+		pedpos->x, pedpos->y);
+
+	float pitchToFace = CGeneral::GetRadianAngleBetweenPoints(
+		// BUG? not using pedpos here
+		pos.z, (m_ped->GetPosition() - pos).Magnitude2D(),
+		pedpos->z, 0.0f);
+
+	return LookInDirection(yawToFace, pitchToFace);
+}
+
+bool
+CPedIK::PointGunInDirection(float targetYaw, float targetPitch)
+{
+	bool result = true;
+	bool armPointedToGun = false;
+	targetYaw = CGeneral::LimitRadianAngle(targetYaw - m_ped->GetForward().Heading());
+	m_flags &= ~GUN_POINTED_SUCCESSFULLY;
+	m_flags |= LOOKAROUND_HEAD_ONLY;
+	if (m_flags & AIMS_WITH_ARM) {
+		armPointedToGun = PointGunInDirectionUsingArm(targetYaw, targetPitch);
+		targetYaw = CGeneral::LimitRadianAngle(targetYaw - (m_upperArmOrient.yaw + m_lowerArmOrient.yaw));
+	}
+	if (armPointedToGun) {
+		if (m_flags & AIMS_WITH_ARM && m_torsoOrient.yaw * m_upperArmOrient.yaw < 0.0f)
+			MoveLimb(m_torsoOrient, 0.0f, m_torsoOrient.pitch, ms_torsoInfo);
+	} else {
+		// Unused code
+		RwMatrix *matrix;
+		float yaw, pitch;
+		matrix = RwMatrixCreate();
+		*matrix = *GetComponentMatrix(m_ped, PED_CLAVICLER);
+		ExtractYawAndPitchWorld(matrix, &yaw, &pitch);
+		RwMatrixDestroy(matrix);
+
+		if(m_flags & AIMS_WITH_ARM){
+			if(targetPitch > 0.0f)
+				targetPitch = Max(targetPitch - Abs(targetYaw), 0.0f);
+			else
+				targetPitch = Min(targetPitch + Abs(targetYaw), 0.0f);
+		}
+		LimbMoveStatus status = MoveLimb(m_torsoOrient, targetYaw, targetPitch, ms_torsoInfo);
+		if (status == ANGLES_SET_TO_MAX)
+			result = false;
+		else if (status == ANGLES_SET_EXACTLY)
+			m_flags |= GUN_POINTED_SUCCESSFULLY;
+	}
+	RwMatrix *m = GetBoneMatrix(m_ped, BONE_spine);	// BUG: game uses index 2 directly, which happens to be identical to BONE_spine
+	RwV3d axis = { 0.0f, 0.0f, 0.0f };
+	float axisangle = -CGeneral::LimitRadianAngle(Atan2(-m->at.y, -m->at.x) - m_ped->m_fRotationCur);
+	axis.y = -Sin(axisangle);
+	axis.z = Cos(axisangle);
+
+	// this was RotateTorso
+	RtQuat *q = &m_ped->m_pFrames[PED_MID]->hanimFrame->q;
+	RtQuatRotate(q, &axis, RADTODEG(m_torsoOrient.pitch), rwCOMBINEPOSTCONCAT);
+	RtQuatRotate(q, &XaxisIK, RADTODEG(m_torsoOrient.yaw), rwCOMBINEPOSTCONCAT);
+	m_ped->bDontAcceptIKLookAts = true;
+
+	return result;
+}
+
+bool
+CPedIK::PointGunInDirectionUsingArm(float targetYaw, float targetPitch)
+{
+	bool result = false;
+	RwMatrix *matrix;
+	float yaw, pitch;
+
+	float uaRoll = 45.0f;
+	float handRoll = 30.0f;
+
+	matrix = GetComponentMatrix(m_ped, PED_CLAVICLER);
+	yaw = CGeneral::LimitRadianAngle(Atan2(matrix->right.y, matrix->right.x) - m_ped->m_fRotationCur);
+	pitch = Atan2(matrix->up.z, Sqrt(1.0f - SQR(matrix->up.z)));
+
+	float uaYaw, uaPitch;
+	uaYaw = CGeneral::LimitRadianAngle(targetYaw - yaw - DEGTORAD(15.0f));
+	uaPitch = CGeneral::LimitRadianAngle(targetPitch - pitch + DEGTORAD(10.0f));
+	LimbMoveStatus uaStatus = MoveLimb(m_upperArmOrient, uaYaw, uaPitch, ms_upperArmInfo);
+	if (uaStatus == ANGLES_SET_EXACTLY) {
+		m_flags |= GUN_POINTED_SUCCESSFULLY;
+		result = true;
+	}
+
+	if (uaStatus == ANGLES_SET_TO_MAX) {
+		float laYaw = uaYaw - m_upperArmOrient.yaw;
+
+		LimbMoveStatus laStatus;
+		if (laYaw > 0.0f){
+			float rollReduce = laYaw/DEGTORAD(30.0f);
+			uaRoll *= 1.0f - Min(rollReduce, 1.0f);
+			handRoll *= 1.0f - Min(rollReduce, 1.0f);
+
+			laYaw *= 1.9f;
+			laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
+
+			// some unused statics here
+			float uaPitchAmount = 1.0f - (m_lowerArmOrient.yaw + m_upperArmOrient.yaw) * 0.34f;
+			float f1 = ms_upperArmInfo.maxPitch * Max(uaPitchAmount, 0.0f);
+			float f2 = 0.2f*m_lowerArmOrient.yaw + m_upperArmOrient.pitch;
+			m_upperArmOrient.pitch = Min(f1, f2);
+		}else
+			laStatus = MoveLimb(m_lowerArmOrient, laYaw, 0.0f, ms_lowerArmInfo);
+
+		if (laStatus == ANGLES_SET_EXACTLY) {
+			m_flags |= GUN_POINTED_SUCCESSFULLY;
+			result = true;
+		}
+
+		// game does this stupidly by going through the clump extension...
+		RtQuat *q = &m_ped->m_pFrames[PED_FOREARMR]->hanimFrame->q;
+		RtQuatRotate(q, &ZaxisIK, -RADTODEG(m_lowerArmOrient.yaw), rwCOMBINEREPLACE);
+		RtQuatRotate(q, &XaxisIK, -RADTODEG(m_lowerArmOrient.pitch), rwCOMBINEPOSTCONCAT);
+		m_ped->bDontAcceptIKLookAts = true;
+	}
+
+	RtQuat *q = &m_ped->m_pFrames[PED_UPPERARMR]->hanimFrame->q;
+	RtQuatRotate(q, &XaxisIK, uaRoll, rwCOMBINEREPLACE);
+	RtQuatRotate(q, &YaxisIK, -RADTODEG(m_upperArmOrient.pitch), rwCOMBINEPOSTCONCAT);
+	RtQuatRotate(q, &ZaxisIK, -RADTODEG(m_upperArmOrient.yaw+HALFPI), rwCOMBINEPOSTCONCAT);
+	m_ped->bDontAcceptIKLookAts = true;
+
+	q = &m_ped->m_pFrames[PED_HANDR]->hanimFrame->q;
+	RtQuatRotate(q, &XaxisIK, handRoll, rwCOMBINEPRECONCAT);
+
+	return result;
+}
+
+bool
+CPedIK::PointGunAtPosition(CVector const& position)
+{
+	CVector startPoint;
+	if (m_ped->GetWeapon()->m_eWeaponType == WEAPONTYPE_SPAS12_SHOTGUN || m_ped->GetWeapon()->m_eWeaponType == WEAPONTYPE_STUBBY_SHOTGUN)
+		startPoint = m_ped->GetPosition();
+	else {
+		RwV3d armPos;
+		GetComponentPosition(armPos, PED_UPPERARMR);
+		startPoint.x = m_ped->GetPosition().x;
+		startPoint.y = m_ped->GetPosition().y;
+		startPoint.z = armPos.z;
+	}
+
+	return PointGunInDirection(
+		CGeneral::GetRadianAngleBetweenPoints(position.x, position.y, startPoint.x, startPoint.y),
+		CGeneral::GetRadianAngleBetweenPoints(position.z, Distance2D(m_ped->GetPosition(), position.x, position.y), startPoint.z, 0.0f));
+}
+
+bool
+CPedIK::RestoreLookAt(void)
+{
+	bool result = false;
+	float yaw, pitch;
+
+	if (m_ped->m_pFrames[PED_HEAD]->flag & AnimBlendFrameData::IGNORE_ROTATION) {
+		m_ped->m_pFrames[PED_HEAD]->flag &= (~AnimBlendFrameData::IGNORE_ROTATION);
+	} else {
+		ExtractYawAndPitchLocalSkinned(m_ped->m_pFrames[PED_HEAD], &yaw, &pitch);
+		if (MoveLimb(m_headOrient, yaw, pitch, ms_headRestoreInfo) == ANGLES_SET_EXACTLY)
+			result = true;
+	}
+
+	// This was RotateHead
+	RtQuat *q = &m_ped->m_pFrames[PED_HEAD]->hanimFrame->q;
+	RtQuatRotate(q, &XaxisIK, RADTODEG(m_headOrient.yaw), rwCOMBINEREPLACE);
+	RtQuatRotate(q, &ZaxisIK, RADTODEG(m_headOrient.pitch), rwCOMBINEPRECONCAT);
+	m_ped->bDontAcceptIKLookAts = true;
+
+	if (!(m_flags & LOOKAROUND_HEAD_ONLY))
+		MoveLimb(m_torsoOrient, 0.0f, 0.0f, ms_torsoInfo);
+	if (!(m_flags & LOOKAROUND_HEAD_ONLY))
+		RotateTorso(m_ped->m_pFrames[PED_MID], &m_torsoOrient, false);
+	return result;
+}
+
+void
+CPedIK::ExtractYawAndPitchWorld(RwMatrix *mat, float *yaw, float *pitch)
+{
+	float f = clamp(DotProduct(mat->up, CVector(0.0f, 1.0f, 0.0f)), -1.0f, 1.0f);
+	*yaw = Acos(f);
+	if (mat->up.x > 0.0f) *yaw = -*yaw;
+
+	f = clamp(DotProduct(mat->right, CVector(0.0f, 0.0f, 1.0f)), -1.0f, 1.0f);
+	*pitch = Acos(f);
+	if (mat->up.z > 0.0f) *pitch = -*pitch;
+}
+
+void
+CPedIK::ExtractYawAndPitchLocal(RwMatrix *mat, float *yaw, float *pitch)
+{
+	float f = clamp(DotProduct(mat->at, CVector(0.0f, 0.0f, 1.0f)), -1.0f, 1.0f);
+	*yaw = Acos(f);
+	if (mat->at.y > 0.0f) *yaw = -*yaw;
+
+	f = clamp(DotProduct(mat->right, CVector(1.0f, 0.0f, 0.0f)), -1.0f, 1.0f);
+	*pitch = Acos(f);
+	if (mat->up.x > 0.0f) *pitch = -*pitch;
+}
+
+void
+CPedIK::ExtractYawAndPitchLocalSkinned(AnimBlendFrameData *node, float *yaw, float *pitch)
+{
+	RwMatrix *mat = RwMatrixCreate();
+	RtQuatConvertToMatrix(&node->hanimFrame->q, mat);
+	ExtractYawAndPitchLocal(mat, yaw, pitch);
+	RwMatrixDestroy(mat);
+}