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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();
};
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