1 files changed, 148 insertions, 0 deletions
diff --git a/Source/Graphics/skeleton.h b/Source/Graphics/skeleton.h
new file mode 100644
index 00000000..97b89009
--- /dev/null
+++ b/Source/Graphics/skeleton.h
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+//-----------------------------------------------------------------------------
+//           Name: skeleton.h
+//      Developer: Wolfire Games LLC
+//    Description:
+//        License: Read below
+//-----------------------------------------------------------------------------
+//
+//
+//   Copyright 2022 Wolfire Games LLC
+//
+//   Licensed under the Apache License, Version 2.0 (the "License");
+//   you may not use this file except in compliance with the License.
+//   You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+//   Unless required by applicable law or agreed to in writing, software
+//   distributed under the License is distributed on an "AS IS" BASIS,
+//   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//   See the License for the specific language governing permissions and
+//   limitations under the License.
+//
+//-----------------------------------------------------------------------------
+#pragma once
+
+#include <Math/vec3.h>
+#include <Math/mat4.h>
+
+#include <Asset/Asset/fzx_file.h>
+#include <Asset/Asset/skeletonasset.h>
+
+#include <Editors/save_state.h>
+#include <Objects/softinfo.h>
+#include <Physics/bulletworld.h>
+#include <Graphics/bonetransform.h>
+#include <Utility/flat_hash_map.hpp>
+
+#include <map>
+
+struct SelectedJoint;
+class BulletObject;
+class btTypedConstraint;
+struct SphereCollision;
+
+struct Bone {
+    int points[2];
+    float mass;
+    vec3 center_of_mass;
+};
+
+struct PhysicsBone {
+    int bone;
+    BulletObject* bullet_object;
+    BulletObject* col_bullet_object;
+    float display_scale;
+    vec3 initial_position;
+    mat4 initial_rotation;
+    float physics_mass;
+
+    PhysicsBone();
+};
+
+enum JointType {
+    ROTATION_JOINT,
+    HINGE_JOINT,
+    FIXED_JOINT,
+    BALL_JOINT,
+    NULL_JOINT
+};
+
+struct PhysicsJoint {
+    JointType type;
+    btTypedConstraint *bt_joint;
+    btTypedConstraint *fixed_joint;
+    bool fixed_joint_enabled;
+    BulletObject* bt_bone[2];
+    float stop_angle[6];
+    float initial_angle;
+    vec3 initial_axis;
+    vec3 initial_axis2;
+    vec3 anchor;
+
+    PhysicsJoint() :bt_joint(NULL),
+                    fixed_joint(NULL),
+                    fixed_joint_enabled(true)
+    {}
+};
+
+class Skeleton {
+    BulletWorld *bullet_world;
+    std::map<BulletObject*, int> phys_id;
+
+    void AddModifiedSphere(btCompoundShape* compound_shape, const vec3 &scale, const vec3 &offset, const quaternion &rotation, const mat4 &capsule_transform, const vec3& skel_offset, float body_scale);
+    void AddModifiedCapsule(btCompoundShape* compound_shape, const vec3 &scale, const vec3 &offset, const quaternion &rotation, const mat4 &capsule_transform, const vec3& skel_offset, float body_scale);
+    void AddModifiedBox(btCompoundShape* compound_shape, const vec3 &scale, const vec3 &offset, const quaternion &rotation, const mat4 &capsule_transform, const vec3& skel_offset, float body_scale);
+
+    // These pointers are owned by us
+    std::vector<btConvexShape *> child_shapes;
+
+
+public:    
+    std::auto_ptr<BulletWorld> col_bullet_world;
+    std::vector<int> parents;
+    std::vector<PhysicsBone> physics_bones;
+    std::vector<PhysicsJoint> physics_joints;
+    std::vector<vec3> points;
+    std::vector<Bone> bones;
+    std::vector<btTypedConstraint*> null_constraints;
+    std::vector<bool> has_verts_assigned;
+    typedef ska::flat_hash_map<std::string, SimpleIKBone> SimpleIKBoneMap;
+    SimpleIKBoneMap simple_ik_bones;
+    std::vector<bool> fixed_obj;
+    SkeletonAssetRef skeleton_asset_ref;
+
+    void CreateHinge(const SelectedJoint &selected_joint, const vec3 &axis, float *initial_angle_ptr);
+    void CreateFixed(const SelectedJoint &selected_joint);
+    void CreateRotationalConstraint(const SelectedJoint &selected_joint);
+    void CreateBallJoint(const SelectedJoint &selected_joint);
+    void SetBulletWorld(BulletWorld *_bullet_world);
+    int Read( const std::string &path, float scale, float mass_scale, const FZXAssetRef &fzx_ref);
+    static void ApplyJointRange(PhysicsJoint *joint);
+    void DeleteJoint(PhysicsJoint *joint);
+    void CreatePhysicsSkeleton(float scale, const FZXAssetRef& fzx_ref);
+    int GetAttachedBone( BulletObject* object );
+    void Dispose();
+    void SetGravity( bool enable );
+    void ReduceROM(float how_much);
+    void PhysicsDispose();
+    void GetPhysicsObjectsFromSelectedJoint( std::vector<BulletObject*> &selected_bullet_bones, const SelectedJoint & selected_joint );
+    void DeleteJointOnBones( std::vector<BulletObject*> &selected_bullet_bones );
+    vec3 GetCenterOfMass();
+    std::vector<float> GetBoneMasses();
+    void UnlinkFromBulletWorld();
+    void LinkToBulletWorld();
+    void AddNullConstraints();
+    void ShiftJoint( PhysicsJoint& joint, int obj_a, int obj_b );
+    void UpdateTwistBones(bool update_transform);
+    void SetGFStrength(PhysicsJoint& joint, float _strength);
+    void RefreshFixedJoints(const std::vector<BoneTransform> &mats);
+    void CheckForNAN();
+    void AlternateHull( const std::string &model_name, const vec3 &old_center, float model_char_scale );
+    void DrawCollisionBulletWorld();
+    void GetSweptSphereCollisionCharacter( const vec3 & pos, const vec3 & pos2, float radius, SphereCollision & as_col );
+    void UpdateCollisionWorldAABB();
+    const btCollisionObject* CheckRayCollision( const vec3 & start, const vec3 & end, vec3* point, vec3* normal );
+    int CheckRayCollisionBone( const vec3 & start, const vec3 & end );
+    ~Skeleton();
+};