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66 lines
3.7 KiB
C++
66 lines
3.7 KiB
C++
/**************************************************************************/
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/* joint_limitation_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "joint_limitation_3d.h"
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#include "scene/3d/skeleton_modifier_3d.h"
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Quaternion JointLimitation3D::make_space(const Vector3 &p_local_forward_vector, const Vector3 &p_local_right_vector, const Quaternion &p_rotation_offset) const {
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const double ALMOST_ONE = 1.0 - CMP_EPSILON;
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// The default is to interpret the forward vector as the +Y axis.
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Vector3 axis_y = p_local_forward_vector.normalized();
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Vector3 axis_x = p_local_right_vector.normalized();
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if (axis_x.is_zero_approx() || Math::abs(axis_x.dot(axis_y)) > ALMOST_ONE) {
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return (Quaternion(Vector3(0, 1, 0), axis_y) * p_rotation_offset.normalized()).normalized();
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}
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// Prior X axis.
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Vector3 axis_z = axis_x.cross(axis_y);
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axis_z.normalize();
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axis_x = axis_y.cross(axis_z);
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axis_x.normalize();
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return (Basis(axis_x, axis_y, axis_z).get_rotation_quaternion() * p_rotation_offset.normalized()).normalized();
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}
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Vector3 JointLimitation3D::_solve(const Vector3 &p_direction) const {
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return p_direction;
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}
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Vector3 JointLimitation3D::solve(const Vector3 &p_local_forward_vector, const Vector3 &p_local_right_vector, const Quaternion &p_rotation_offset, const Vector3 &p_local_current_vector) const {
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Quaternion space = make_space(p_local_forward_vector, p_local_right_vector, p_rotation_offset);
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Vector3 dir = p_local_current_vector.normalized();
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return space.xform(_solve(space.xform_inv(dir)));
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}
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#ifdef TOOLS_ENABLED
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void JointLimitation3D::draw_shape(Ref<SurfaceTool> &p_surface_tool, const Transform3D &p_transform, float p_bone_length, const Color &p_color) const {
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//
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}
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#endif // TOOLS_ENABLED
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