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Skeleton.cpp
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#include "Config.h"
#include "Skeleton.h"
#include "F4VRBody.h"
#include "Pipboy.h"
#include "HandPose.h"
#include "weaponOffset.h"
#include "f4se/GameForms.h"
#include "VR.h"
#include "Menu.h"
#include <chrono>
#include <time.h>
#include <string.h>
extern PapyrusVRAPI* g_papyrusvr;
extern OpenVRHookManagerAPI* _vrhook;
using namespace std::chrono;
namespace F4VRBody {
float defaultCameraHeight = 120.4828;
float PACameraHeightDiff = 20.7835;
UInt32 KeywordPowerArmor = 0x4D8A1;
UInt32 KeywordPowerArmorFrame = 0x15503F;
bool tempsticky = false;
std::map<std::string, int> boneTreeMap;
std::vector<std::string> boneTreeVec;
NiPoint3 _lasthmdtoNewHip;
void addFingerRelations(std::map<std::string, std::pair<std::string, std::string>>* map, std::string hand, std::string finger1, std::string finger2, std::string finger3) {
map->insert({ finger1, { hand, finger2 } });
map->insert({ finger2, { finger1, finger3 } });
map->insert({ finger3, { finger2, std::string()} });
}
std::map<std::string, std::pair<std::string, std::string>> makeFingerRelations() {
std::map<std::string, std::pair<std::string, std::string>> map;
//left hand
addFingerRelations(&map, "LArm_Hand", "LArm_Finger11", "LArm_Finger12", "LArm_Finger13");
addFingerRelations(&map, "LArm_Hand", "LArm_Finger21", "LArm_Finger22", "LArm_Finger23");
addFingerRelations(&map, "LArm_Hand", "LArm_Finger31", "LArm_Finger32", "LArm_Finger33");
addFingerRelations(&map, "LArm_Hand", "LArm_Finger41", "LArm_Finger42", "LArm_Finger43");
addFingerRelations(&map, "LArm_Hand", "LArm_Finger51", "LArm_Finger52", "LArm_Finger53");
//right hand
addFingerRelations(&map, "RArm_Hand", "RArm_Finger11", "RArm_Finger12", "RArm_Finger13");
addFingerRelations(&map, "RArm_Hand", "RArm_Finger21", "RArm_Finger22", "RArm_Finger23");
addFingerRelations(&map, "RArm_Hand", "RArm_Finger31", "RArm_Finger32", "RArm_Finger33");
addFingerRelations(&map, "RArm_Hand", "RArm_Finger41", "RArm_Finger42", "RArm_Finger43");
addFingerRelations(&map, "RArm_Hand", "RArm_Finger51", "RArm_Finger52", "RArm_Finger53");
return map;
}
std::map<std::string, std::pair<std::string, std::string>> fingerRelations = makeFingerRelations();
void initBoneTreeMap(NiNode* root) {
BSFlattenedBoneTree* rt = (BSFlattenedBoneTree*)root;
boneTreeMap.clear();
boneTreeVec.clear();
for (auto i = 0; i < rt->numTransforms; i++) {
_MESSAGE("BoneTree Init -> Push %s into position %d", rt->transforms[i].name.c_str(), i);
boneTreeMap.insert({ rt->transforms[i].name.c_str(), i});
boneTreeVec.push_back(rt->transforms[i].name.c_str());
}
}
void printMatrix(Matrix44* mat) {
_MESSAGE("Dump matrix:");
std::string row = "";
for (auto i = 0; i < 4; i++) {
for (auto j = 0; j < 4; j++) {
row += std::to_string(mat->data[i][j]);
row += " ";
}
_MESSAGE("%s", row.c_str());
row = "";
}
}
// Native function that takes the 1st person skeleton weapon node and calculates the skeleton from upperarm down based off the offsetNode
void update1stPersonArm(PlayerCharacter* pc, NiNode** weapon, NiNode** offsetNode) {
using func_t = decltype(&update1stPersonArm);
RelocAddr<func_t> func(0xef6280);
return func(pc, weapon, offsetNode);
}
int Skeleton::getBoneInMap(std::string boneName) {
return boneTreeMap[boneName];
}
void Skeleton::rotateWorld(NiNode *nde) {
Matrix44 mat;
mat.data[0][0] = -1.0;
mat.data[0][1] = 0.0;
mat.data[0][2] = 0.0;
mat.data[0][3] = 0.0;
mat.data[1][0] = 0.0;
mat.data[1][1] = -1.0;
mat.data[1][2] = 0.0;
mat.data[1][3] = 0.0;
mat.data[2][0] = 0.0;
mat.data[2][1] = 0.0;
mat.data[2][2] = 1.0;
mat.data[2][3] = 0.0;
mat.data[3][0] = 0.0;
mat.data[3][1] = 0.0;
mat.data[3][2] = 0.0;
mat.data[3][3] = 0.0;
Matrix44 *local = (Matrix44*)&nde->m_worldTransform.rot;
Matrix44 result;
Matrix44::matrixMultiply(local, &result, &mat);
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
nde->m_worldTransform.rot.data[i][j] = result.data[i][j];
}
}
nde->m_worldTransform.pos.x = result.data[3][0];
nde->m_worldTransform.pos.y = result.data[3][1];
nde->m_worldTransform.pos.z = result.data[3][2];
}
void Skeleton::updatePos(NiNode* nde, NiPoint3 offset) {
nde->m_worldTransform.pos += offset;
for (auto i = 0; i < nde->m_children.m_emptyRunStart; ++i) {
auto nextNode = nde->m_children.m_data[i] ? nde->m_children.m_data[i]->GetAsNiNode() : nullptr;
if (nextNode) {
this->updatePos(nextNode, offset);
}
}
}
void Skeleton::updateDown(NiNode* nde, bool updateSelf) {
if (!nde) {
return;
}
NiAVObject::NiUpdateData* ud = nullptr;
if (updateSelf) {
nde->UpdateWorldData(ud);
}
for (auto i = 0; i < nde->m_children.m_emptyRunStart; ++i) {
auto nextNode = nde->m_children.m_data[i];
if (nextNode) {
if (auto niNode = nextNode->GetAsNiNode()) {
this->updateDown(niNode, true);
}
else if (auto triNode = nextNode->GetAsBSGeometry()) {
triNode->UpdateWorldData(ud);
}
}
}
}
void Skeleton::updateDownTo(NiNode* toNode, NiNode* fromNode, bool updateSelf) {
if (!toNode || !fromNode) {
return;
}
NiAVObject::NiUpdateData* ud = nullptr;
if (updateSelf) {
fromNode->UpdateWorldData(ud);
}
if (_stricmp(toNode->m_name.c_str(), fromNode->m_name.c_str()) == 0) {
return;
}
for (auto i = 0; i < fromNode->m_children.m_emptyRunStart; ++i) {
auto nextNode = fromNode->m_children.m_data[i];
if (nextNode) {
if (auto niNode = nextNode->GetAsNiNode()) {
this->updateDownTo(toNode, niNode, true);
}
}
}
}
void Skeleton::updateUpTo(NiNode* toNode, NiNode* fromNode, bool updateTarget) {
if (!toNode || !fromNode) {
return;
}
NiAVObject::NiUpdateData* ud = nullptr;
if (_stricmp(toNode->m_name.c_str(), fromNode->m_name.c_str()) == 0) {
if (updateTarget) {
fromNode->UpdateWorldData(ud);
}
return;
}
fromNode->UpdateWorldData(ud);
if (auto parent = fromNode->m_parent ? fromNode->m_parent->GetAsNiNode() : nullptr) {
updateUpTo(toNode, parent, true);
}
}
void Skeleton::setTime() {
prevTime = timer;
QueryPerformanceFrequency(&freqCounter);
QueryPerformanceCounter(&timer);
_frameTime = (double)(timer.QuadPart - prevTime.QuadPart) / freqCounter.QuadPart;
//also save last position at this time for anyone doing speed calcs
_lastPos = _curPos;
}
void Skeleton::selfieSkelly(float offsetOutFront) { // Projects the 3rd person body out in front of the player by offset amount
if (!c_selfieMode || !_root) {
return;
}
float z = _root->m_localTransform.pos.z;
NiNode* body = _root->m_parent->GetAsNiNode();
NiPoint3 back = vec3_norm(NiPoint3(-_forwardDir.x, -_forwardDir.y, 0));
NiPoint3 bodydir = NiPoint3(0, 1, 0);
Matrix44 mat;
mat.makeIdentity();
mat.rotateVectoVec(back, bodydir);
_root->m_localTransform.rot = mat.multiply43Left(body->m_worldTransform.rot.Transpose());
_root->m_localTransform.pos = body->m_worldTransform.pos - this->getPosition();
_root->m_localTransform.pos.y += offsetOutFront;
_root->m_localTransform.pos.z = z;
}
NiNode* Skeleton::getNode(const char* nodeName, NiNode* nde) {
if (!nde || !nde->m_name) {
return nullptr;
}
if (_stricmp(nodeName, nde->m_name.c_str()) == 0) {
return nde;
}
for (auto i = 0; i < nde->m_children.m_emptyRunStart; ++i) {
if (auto nextNode = nde->m_children.m_data[i] ? nde->m_children.m_data[i]->GetAsNiNode() : nullptr) {
if (auto ret = this->getNode(nodeName, nextNode)) {
return ret;
}
}
}
return nullptr;
}
void Skeleton::setVisibility(NiAVObject* nde, bool a_show) {
if (nde) {
nde->flags = a_show ? (nde->flags & ~0x1) : (nde->flags | 0x1);
}
}
void Skeleton::setupHead(NiNode* headNode, bool hideHead) {
if (!headNode) {
return;
}
headNode->m_localTransform.rot.data[0][0] = 0.967;
headNode->m_localTransform.rot.data[0][1] = -0.251;
headNode->m_localTransform.rot.data[0][2] = 0.047;
headNode->m_localTransform.rot.data[1][0] = 0.249;
headNode->m_localTransform.rot.data[1][1] = 0.967;
headNode->m_localTransform.rot.data[1][2] = 0.051;
headNode->m_localTransform.rot.data[2][0] = -0.058;
headNode->m_localTransform.rot.data[2][1] = -0.037;
headNode->m_localTransform.rot.data[2][2] = 0.998;
NiAVObject::NiUpdateData* ud = nullptr;
headNode->UpdateWorldData(ud);
}
void Skeleton::insertSaveState(const std::string& name, NiNode* node) {
NiNode* fn = getNode(name.c_str(), node);
if (!fn) {
_MESSAGE("cannot find node %s", name.c_str());
return;
}
auto it = savedStates.find(fn->m_name.c_str());
if (it == savedStates.end()) {
fn->m_localTransform.pos = boneLocalDefault[fn->m_name.c_str()];
savedStates.emplace(fn->m_name.c_str(), fn->m_localTransform);
} else {
node->m_localTransform.pos = boneLocalDefault[name];
it->second = node->m_localTransform;
}
_MESSAGE("inserted %s", name.c_str());
}
void Skeleton::initLocalDefaults() {
detectInPowerArmor();
boneLocalDefault.clear();
if (_inPowerArmor) {
boneLocalDefault.insert({ "Root", NiPoint3(-0.000000, -0.000000, 0.000000) });
boneLocalDefault["COM"] = NiPoint3(-0.000031, -3.749783, 89.419518);
boneLocalDefault["Pelvis"] = NiPoint3(0.000000, 0.000000, 0.000000);
boneLocalDefault["LLeg_Thigh"] = NiPoint3(4.548744, -1.329979, 6.908315);
boneLocalDefault["LLeg_Calf"] = NiPoint3(34.297993, 0.000030, 0.000008);
boneLocalDefault["LLeg_Foot"] = NiPoint3(52.541229, -0.000018, -0.000018);
boneLocalDefault["RLeg_Thigh"] = NiPoint3(4.547630, -1.324275, -6.897992);
boneLocalDefault["RLeg_Calf"] = NiPoint3(34.297920, 0.000020, 0.000029);
boneLocalDefault["RLeg_Foot"] = NiPoint3(52.540794, 0.000001, -0.000002);
boneLocalDefault["SPINE1"] = NiPoint3(5.750534, -0.002948, -0.000008);
boneLocalDefault["SPINE2"] = NiPoint3(5.625465, 0.000000, 0.000000);
boneLocalDefault["Chest"] = NiPoint3(5.536583, -0.000000, 0.000000);
boneLocalDefault["LArm_Collarbone"] = NiPoint3(22.192039, 0.348167, 1.004177);
boneLocalDefault["LArm_UpperArm"] = NiPoint3(14.598365, 0.000075, 0.000146);
boneLocalDefault["LArm_ForeArm1"] = NiPoint3(19.536854, 0.419780, 0.045785);
boneLocalDefault["LArm_ForeArm2"] = NiPoint3(0.000168, 0.000150, 0.000153);
boneLocalDefault["LArm_ForeArm3"] = NiPoint3(10.000494, 0.000162, -0.000004);
boneLocalDefault["LArm_Hand"] = NiPoint3(26.964424, 0.000185, 0.000400);
boneLocalDefault["RArm_Collarbone"] = NiPoint3(22.191887, 0.348147, -1.003999);
boneLocalDefault["RArm_UpperArm"] = NiPoint3(14.598806, 0.000044, 0.000044);
boneLocalDefault["RArm_ForeArm1"] = NiPoint3(19.536560, 0.419853, -0.046183);
boneLocalDefault["RArm_ForeArm2"] = NiPoint3(-0.000053, -0.000068, -0.000137);
boneLocalDefault["RArm_ForeArm3"] = NiPoint3(10.000502, -0.000104, 0.000120);
boneLocalDefault["RArm_Hand"] = NiPoint3(26.964560, 0.000064, 0.001247);
boneLocalDefault["Neck"] = NiPoint3(24.293526, -2.841563, 0.000019);
boneLocalDefault["Head"] = NiPoint3(8.224354, 0.0, 0.0);
}
else {
boneLocalDefault.insert({ "Root", NiPoint3(-0.000000, -0.000000, 0.000000) });
boneLocalDefault["COM"] = NiPoint3(2.0, 1.5, 68.911301);
boneLocalDefault["Pelvis"] = NiPoint3(0.000000, 0.000000, 0.000000);
boneLocalDefault["LLeg_Thigh"] = NiPoint3(0.000008, 0.000431, 6.615070);
boneLocalDefault["LLeg_Calf"] = NiPoint3(31.595196, 0.000021, -0.000031);
boneLocalDefault["LLeg_Foot"] = NiPoint3(31.942888, -0.000018, -0.000018);
boneLocalDefault["RLeg_Thigh"] = NiPoint3(0.000008, 0.000431, -6.615068);
boneLocalDefault["RLeg_Calf"] = NiPoint3(31.595139, 0.000020, 0.000029);
boneLocalDefault["RLeg_Foot"] = NiPoint3(31.942570, 0.000001, -0.000002);
boneLocalDefault["SPINE1"] = NiPoint3(3.791992, -0.002948, -0.000008);
boneLocalDefault["SPINE2"] = NiPoint3(8.704666, 0.000000, 0.000000);
boneLocalDefault["Chest"] = NiPoint3(9.956283, -0.000000, 0.000000);
boneLocalDefault["LArm_Collarbone"] = NiPoint3(19.153227, -0.510421, 1.695077);
boneLocalDefault["LArm_UpperArm"] = NiPoint3(12.536572, 0.000003, 0.000000);
boneLocalDefault["LArm_ForeArm1"] = NiPoint3(17.968307, 0.000019, 0.000007);
boneLocalDefault["LArm_ForeArm2"] = NiPoint3(6.151599, -0.000022, -0.000045);
boneLocalDefault["LArm_ForeArm3"] = NiPoint3(6.151586, -0.000068, 0.000016);
boneLocalDefault["LArm_Hand"] = NiPoint3(6.151584, 0.000033, -0.000065);
boneLocalDefault["RArm_Collarbone"] = NiPoint3(19.153219, -0.510418, -1.695124);
boneLocalDefault["RArm_UpperArm"] = NiPoint3(12.534259, 0.000007, -0.000013);
boneLocalDefault["RArm_ForeArm1"] = NiPoint3(17.970503, 0.000103, -0.000056);
boneLocalDefault["RArm_ForeArm2"] = NiPoint3(6.152768, 0.000040, -0.000039);
boneLocalDefault["RArm_ForeArm3"] = NiPoint3(6.152856, -0.000009, -0.000091);
boneLocalDefault["RArm_Hand"] = NiPoint3(6.152939, 0.000044, -0.000029);
boneLocalDefault["Neck"] = NiPoint3(22.084, -3.767, 0.0);
boneLocalDefault["Head"] = NiPoint3(8.224354, 0.0, 0.0);
}
}
void Skeleton::saveStatesTree(NiNode* node) {
initLocalDefaults();
if (!node) {
_MESSAGE("Cannot save states Tree");
return;
}
insertSaveState("Root", node);
insertSaveState("COM", node);
insertSaveState("Pelvis", node);
insertSaveState("LLeg_Thigh", node);
insertSaveState("LLeg_Calf", node);
insertSaveState("LLeg_Foot", node);
insertSaveState("RLeg_Thigh", node);
insertSaveState("RLeg_Calf", node);
insertSaveState("RLeg_Foot", node);
insertSaveState("SPINE1", node);
insertSaveState("SPINE2", node);
insertSaveState("Chest", node);
insertSaveState("LArm_Collarbone", node);
insertSaveState("LArm_UpperArm", node);
insertSaveState("LArm_ForeArm1", node);
insertSaveState("LArm_ForeArm2", node);
insertSaveState("LArm_ForeArm3", node);
insertSaveState("LArm_Hand", node);
insertSaveState("RArm_Collarbone", node);
insertSaveState("RArm_UpperArm", node);
insertSaveState("RArm_ForeArm1", node);
insertSaveState("RArm_ForeArm2", node);
insertSaveState("RArm_ForeArm3", node);
insertSaveState("RArm_Hand", node);
insertSaveState("Neck", node);
insertSaveState("Head", node);
}
void Skeleton::restoreLocals(NiNode* node) {
if (!node || !node->m_name) {
_MESSAGE("cannot restore locals");
return;
}
const std::string name(node->m_name.c_str());
auto it = savedStates.find(name);
if (it != savedStates.end()) {
node->m_localTransform = it->second;
}
for (auto i = 0; i < node->m_children.m_emptyRunStart; ++i) {
if (auto nextNode = node->m_children.m_data[i] ? node->m_children.m_data[i]->GetAsNiNode() : nullptr) {
this->restoreLocals(nextNode);
}
}
}
bool Skeleton::setNodes() {
QueryPerformanceFrequency(&freqCounter);
QueryPerformanceCounter(&timer);
std::srand(static_cast<unsigned int>(time(nullptr)));
_offHandGripping = false;
_hasLetGoGripButton = false;
_prevSpeed = 0.0;
_playerNodes = reinterpret_cast<PlayerNodes*>(reinterpret_cast<char*>(*g_player) + 0x6E0);
if (!_playerNodes) {
_MESSAGE("player nodes not set");
return false;
}
_curPos = (*g_playerCamera)->cameraNode->m_worldTransform.pos;
setCommonNode();
if (!_common) {
_MESSAGE("Common Node Not Set");
return false;
}
_rightHand = getNode("RArm_Hand", (*g_player)->firstPersonSkeleton->GetAsNiNode());
_leftHand = getNode("LArm_Hand", (*g_player)->firstPersonSkeleton->GetAsNiNode());
if (!_rightHand || !_leftHand) {
return false;
}
_rightHandPrevFrame = _rightHand->m_worldTransform;
_leftHandPrevFrame = _leftHand->m_worldTransform;
NiNode* screenNode = _playerNodes->ScreenNode;
if(g_pipboy)
g_pipboy->onSetNodes();
_spine = this->getNode("SPINE2", _root);
_chest = this->getNode("Chest", _root);
_MESSAGE("common node = %016I64X", _common);
_MESSAGE("righthand node = %016I64X", _rightHand);
_MESSAGE("lefthand node = %016I64X", _leftHand);
// Setup Arms
const std::vector<std::pair<BSFixedString, NiAVObject**>> armNodes = {
{"RArm_Collarbone", &rightArm.shoulder},
{"RArm_UpperArm", &rightArm.upper},
{"RArm_UpperTwist1", &rightArm.upperT1},
{"RArm_ForeArm1", &rightArm.forearm1},
{"RArm_ForeArm2", &rightArm.forearm2},
{"RArm_ForeArm3", &rightArm.forearm3},
{"RArm_Hand", &rightArm.hand},
{"LArm_Collarbone", &leftArm.shoulder},
{"LArm_UpperArm", &leftArm.upper},
{"LArm_UpperTwist1", &leftArm.upperT1},
{"LArm_ForeArm1", &leftArm.forearm1},
{"LArm_ForeArm2", &leftArm.forearm2},
{"LArm_ForeArm3", &leftArm.forearm3},
{"LArm_Hand", &leftArm.hand}
};
for (const auto& [name, node] : armNodes) {
*node = _common->GetObjectByName(&name);
}
_MESSAGE("finished set arm nodes");
_handBones = handOpen;
// setup hand bones to openvr button mapping
_handBonesButton["LArm_Finger11"] = vr::k_EButton_SteamVR_Touchpad;
_handBonesButton["LArm_Finger12"] = vr::k_EButton_SteamVR_Touchpad;
_handBonesButton["LArm_Finger13"] = vr::k_EButton_SteamVR_Touchpad;
_handBonesButton["LArm_Finger21"] = vr::k_EButton_SteamVR_Trigger;
_handBonesButton["LArm_Finger22"] = vr::k_EButton_SteamVR_Trigger;
_handBonesButton["LArm_Finger23"] = vr::k_EButton_SteamVR_Trigger;
_handBonesButton["LArm_Finger31"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger32"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger33"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger41"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger42"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger43"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger51"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger52"] = vr::k_EButton_Grip;
_handBonesButton["LArm_Finger53"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger11"] = vr::k_EButton_SteamVR_Touchpad;
_handBonesButton["RArm_Finger12"] = vr::k_EButton_SteamVR_Touchpad;
_handBonesButton["RArm_Finger13"] = vr::k_EButton_SteamVR_Touchpad;
_handBonesButton["RArm_Finger21"] = vr::k_EButton_SteamVR_Trigger;
_handBonesButton["RArm_Finger22"] = vr::k_EButton_SteamVR_Trigger;
_handBonesButton["RArm_Finger23"] = vr::k_EButton_SteamVR_Trigger;
_handBonesButton["RArm_Finger31"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger32"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger33"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger41"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger42"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger43"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger51"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger52"] = vr::k_EButton_Grip;
_handBonesButton["RArm_Finger53"] = vr::k_EButton_Grip;
savedStates.clear();
saveStatesTree(_root->m_parent->GetAsNiNode());
_MESSAGE("finished saving tree");
initBoneTreeMap(_root);
return true;
}
NiPoint3 Skeleton::getPosition() {
// _curPos = _playerNodes->UprightHmdNode->m_worldTransform.pos;
_curPos = (*g_playerCamera)->cameraNode->m_worldTransform.pos;
return _curPos;
}
// below takes the two vectors from hmd to each hand and sums them to determine a center axis in which to see how much the hmd has rotated
// A secondary angle is also calculated which is 90 degrees on the z axis up to handle when the hands are approaching the z plane of the hmd
// this helps keep the body stable through a wide range of hand poses
// this still struggles with hands close to the face and with one hand low and one hand high. Will need to take progs advice to add weights
// to these positions which i'll do at a later date.
float Skeleton::getNeckYaw() {
if (!_playerNodes) {
_MESSAGE("playernodes not set in neck yaw");
return 0.0;
}
NiPoint3 pos = _playerNodes->UprightHmdNode->m_worldTransform.pos;
NiPoint3 hmdToLeft = _playerNodes->SecondaryWandNode->m_worldTransform.pos - pos;
NiPoint3 hmdToRight = _playerNodes->primaryWandNode->m_worldTransform.pos - pos;
float weight = 1.0f;
if ((vec3_len(hmdToLeft) < 10.0f) || (vec3_len(hmdToRight) < 10.0f)) {
return 0.0;
}
// handle excessive angles when hand is above the head.
if (hmdToLeft.z > 0) {
weight = (std::max)((float)(weight - (0.05 * hmdToLeft.z)), 0.0f);
}
if (hmdToRight.z > 0) {
weight = (std::max)((float)(weight - (0.05 * hmdToRight.z)), 0.0f);
}
// hands moving across the chest rotate too much. try to handle with below
// wp = parWp + parWr * lp => lp = (wp - parWp) * parWr'
NiPoint3 locLeft = _playerNodes->HmdNode->m_worldTransform.rot.Transpose() * hmdToLeft;
NiPoint3 locRight = _playerNodes->HmdNode->m_worldTransform.rot.Transpose() * hmdToRight;
if (locLeft.x > locRight.x) {
float delta = locRight.x - locLeft.x;
weight = (std::max)((float)(weight + (0.02 * delta)), 0.0f);
}
NiPoint3 sum = hmdToRight + hmdToLeft;
NiPoint3 forwardDir = vec3_norm(_playerNodes->HmdNode->m_worldTransform.rot.Transpose() * vec3_norm(sum)); // rotate sum to local hmd space to get the proper angle
NiPoint3 hmdForwardDir = vec3_norm(_playerNodes->HmdNode->m_worldTransform.rot.Transpose() * _playerNodes->HmdNode->m_localTransform.pos);
float anglePrime = atan2f(forwardDir.x, forwardDir.y);
float angleSec = atan2f(forwardDir.x, forwardDir.z);
float angleFinal;
sum = vec3_norm(sum);
float pitchDiff = atan2f(hmdForwardDir.y, hmdForwardDir.z) - atan2f(forwardDir.z, forwardDir.y);
angleFinal = (fabs(pitchDiff) > degrees_to_rads(80.0f)) ? angleSec : anglePrime;
return std::clamp(-angleFinal * weight, degrees_to_rads(-50.0f), degrees_to_rads(50.0f));
}
float Skeleton::getNeckPitch() {
const NiPoint3& lookDir = vec3_norm(_playerNodes->HmdNode->m_worldTransform.rot.Transpose() * _playerNodes->HmdNode->m_localTransform.pos);
return atan2f(lookDir.y, lookDir.z);
}
float Skeleton::getBodyPitch() {
constexpr float basePitch = 105.3f;
constexpr float weight = 0.1f;
float curHeight = g_config->playerHeight;
float heightCalc = std::abs((curHeight - _playerNodes->UprightHmdNode->m_localTransform.pos.z) / curHeight);
float angle = heightCalc * (basePitch + weight * rads_to_degrees(getNeckPitch()));
return degrees_to_rads(angle);
}
void Skeleton::setUnderHMD(float groundHeight) {
detectInPowerArmor();
if (g_config->disableSmoothMovement) {
_playerNodes->playerworldnode->m_localTransform.pos.z = _inPowerArmor ? (g_config->PACameraHeight + c_dynamicCameraHeight) : g_config->cameraHeight + c_dynamicCameraHeight;
updateDown(_playerNodes->playerworldnode, true);
}
Matrix44 mat;
mat = 0.0;
// float y = (*g_playerCamera)->cameraNode->m_worldTransform.rot.data[1][1]; // Middle column is y vector. Grab just x and y portions and make a unit vector. This can be used to rotate body to always be orientated with the hmd.
// float x = (*g_playerCamera)->cameraNode->m_worldTransform.rot.data[1][0]; // Later will use this vector as the basis for the rest of the IK
float z = _root->m_localTransform.pos.z;
// float z = groundHeight;
float neckYaw = getNeckYaw();
float neckPitch = getNeckPitch();
Quaternion qa;
qa.setAngleAxis(-neckPitch, NiPoint3(-1, 0, 0));
mat = qa.getRot();
NiMatrix43 newRot = mat.multiply43Left(_playerNodes->HmdNode->m_localTransform.rot);
_forwardDir = rotateXY(NiPoint3(newRot.data[1][0], newRot.data[1][1], 0), neckYaw * 0.7);
_sidewaysRDir = NiPoint3(_forwardDir.y, -_forwardDir.x, 0);
NiNode* body = _root->m_parent->GetAsNiNode();
body->m_localTransform.pos *= 0.0f;
body->m_worldTransform.pos.x = this->getPosition().x;
body->m_worldTransform.pos.y = this->getPosition().y;
body->m_worldTransform.pos.z += _playerNodes->playerworldnode->m_localTransform.pos.z;
NiPoint3 back = vec3_norm(NiPoint3(_forwardDir.x, _forwardDir.y, 0));
NiPoint3 bodydir = NiPoint3(0, 1, 0);
mat.rotateVectoVec(back, bodydir);
_root->m_localTransform.rot = mat.multiply43Left(body->m_worldTransform.rot.Transpose());
_root->m_localTransform.pos = body->m_worldTransform.pos - getPosition();
_root->m_localTransform.pos.z = z;
//_root->m_localTransform.pos *= 0.0f;
//_root->m_localTransform.pos.y = g_config->playerOffset_forward - 6.0f;
_root->m_localTransform.scale = g_config->playerHeight / defaultCameraHeight; // set scale based off specified user height
}
void Skeleton::setBodyPosture() {
uint64_t dominantHand = (g_config->leftHandedMode ? VRHook::g_vrHook->getControllerState(VRHook::VRSystem::TrackerType::Left).ulButtonPressed : VRHook::g_vrHook->getControllerState(VRHook::VRSystem::TrackerType::Right).ulButtonPressed);
const auto UISelectButton = dominantHand & vr::ButtonMaskFromId((vr::EVRButtonId)33); // Right Trigger
float neckPitch = getNeckPitch();
float bodyPitch = (_inPowerArmor ? getBodyPitch() : getBodyPitch() / 1.2);
NiNode* camera = (*g_playerCamera)->cameraNode;
NiNode* com = getNode("COM", _root);
NiNode* neck = getNode("Neck", _root);
NiNode* spine = getNode("SPINE1", _root);
_leftKneePos = getNode("LLeg_Calf", com)->m_worldTransform.pos;
_rightKneePos = getNode("RLeg_Calf", com)->m_worldTransform.pos;
float comZ = com->m_localTransform.pos.z;
com->m_localTransform.pos.x = 0.0;
com->m_localTransform.pos.y = 0.0;
float z_adjust = (_inPowerArmor ? g_config->powerArmor_up : g_config->playerOffset_up) - cosf(neckPitch) * (5.0 * _root->m_localTransform.scale);
//float z_adjust = g_config->playerOffset_up - cosf(neckPitch) * (5.0 * _root->m_localTransform.scale);
NiPoint3 neckAdjust = NiPoint3(-_forwardDir.x * g_config->playerOffset_forward / 2, -_forwardDir.y * g_config->playerOffset_forward / 2, z_adjust);
NiPoint3 neckPos = camera->m_worldTransform.pos + neckAdjust;
_torsoLen = vec3_len(neck->m_worldTransform.pos - com->m_worldTransform.pos);
NiPoint3 hmdToHip = neckPos - com->m_worldTransform.pos;
NiPoint3 dir = NiPoint3(-_forwardDir.x, -_forwardDir.y, 0);
float dist = tanf(bodyPitch) * vec3_len(hmdToHip);
NiPoint3 tmpHipPos = com->m_worldTransform.pos + dir * (dist / vec3_len(dir));
tmpHipPos.z = com->m_worldTransform.pos.z;
NiPoint3 hmdtoNewHip = tmpHipPos - neckPos;
NiPoint3 newHipPos = neckPos + hmdtoNewHip * (_torsoLen / vec3_len(hmdtoNewHip));
NiPoint3 newPos = com->m_localTransform.pos + _root->m_worldTransform.rot.Transpose() * (newHipPos - com->m_worldTransform.pos);
float offsetFwd;
offsetFwd = _inPowerArmor ? g_config->powerArmor_forward : g_config->playerOffset_forward;
com->m_localTransform.pos.y += (newPos.y + offsetFwd);
com->m_localTransform.pos.z = _inPowerArmor ? newPos.z / 1.7 : newPos.z / 1.5;
//com->m_localTransform.pos.z -= _inPowerArmor ? g_config->powerArmor_up + g_config->PACameraHeight : 0.0f;
NiNode* body = _root->m_parent->GetAsNiNode();
_inPowerArmor ? body->m_worldTransform.pos.z = body->m_worldTransform.pos.z - (g_config->PACameraHeight + g_config->PARootOffset) : body->m_worldTransform.pos.z = body->m_worldTransform.pos.z - (g_config->cameraHeight + g_config->rootOffset);
Matrix44 rot;
rot.rotateVectoVec(neckPos - tmpHipPos, hmdToHip);
NiMatrix43 mat = rot.multiply43Left(spine->m_parent->m_worldTransform.rot.Transpose());
rot.makeTransformMatrix(mat, NiPoint3(0, 0, 0));
spine->m_localTransform.rot = rot.multiply43Right(spine->m_worldTransform.rot);
}
void Skeleton::setKneePos() {
NiNode* lKnee = getNode("LLeg_Calf", _root);
NiNode* rKnee = getNode("RLeg_Calf", _root);
if (!lKnee || !rKnee) {
return;
}
lKnee->m_worldTransform.pos.z = _leftKneePos.z;
rKnee->m_worldTransform.pos.z = _rightKneePos.z;
_leftKneePos = lKnee->m_worldTransform.pos;
_rightKneePos = rKnee->m_worldTransform.pos;
updateDown(lKnee, false);
updateDown(rKnee, false);
}
void Skeleton::fixArmor() {
NiNode* lPauldron = getNode("L_Pauldron", _root);
NiNode* rPauldron = getNode("R_Pauldron", _root);
if (!lPauldron || !rPauldron) {
return;
}
//float delta = getNode("LArm_Collarbone", _root)->m_worldTransform.pos.z - _root->m_worldTransform.pos.z;
float delta = getNode("LArm_UpperArm", _root)->m_worldTransform.pos.z - _root->m_worldTransform.pos.z;
float delta2 = getNode("RArm_UpperArm", _root)->m_worldTransform.pos.z - _root->m_worldTransform.pos.z;
if (lPauldron) {
lPauldron->m_localTransform.pos.z = delta - 15.0f;
}
if (rPauldron) {
rPauldron->m_localTransform.pos.z = delta - 15.0f;
}
}
void Skeleton::walk() {
NiNode* lHip = getNode("LLeg_Thigh", _root);
NiNode* rHip = getNode("RLeg_Thigh", _root);
if (!lHip || !rHip) {
return;
}
NiNode* lKnee = getNode("LLeg_Calf", lHip);
NiNode* rKnee = getNode("RLeg_Calf", rHip);
NiNode* lFoot = getNode("LLeg_Foot", lHip);
NiNode* rFoot = getNode("RLeg_Foot", rHip);
if (!lKnee || !rKnee || !lFoot || !rFoot) {
return;
}
// move feet closer togther
NiPoint3 leftToRight = _inPowerArmor ? (rFoot->m_worldTransform.pos - lFoot->m_worldTransform.pos) * -0.15 : (rFoot->m_worldTransform.pos - lFoot->m_worldTransform.pos) * 0.3;
lFoot->m_worldTransform.pos += leftToRight;
rFoot->m_worldTransform.pos -= leftToRight;
// want to calculate direction vector first. Will only concern with x-y vector to start.
NiPoint3 lastPos = _lastPos;
NiPoint3 curPos = _curPos;
curPos.z = 0;
lastPos.z = 0;
NiPoint3 dir = curPos - lastPos;
double curSpeed;
curSpeed = std::clamp((abs(vec3_len(dir)) / _frameTime), 0.0, 350.0);
if (_prevSpeed > 20.0) {
curSpeed = (curSpeed + _prevSpeed) / 2;
}
double stepTime = std::clamp(cos(curSpeed / 140.0), 0.28, 0.50);
dir = vec3_norm(dir);
// if decelerating reset target
if ((curSpeed - _prevSpeed) < -20.0f) {
_walkingState = 3;
}
_prevSpeed = curSpeed;
static float spineAngle = 0.0;
// setup current walking state based on velocity and previous state
if (!c_jumping) {
switch (_walkingState) {
case 0: {
if (curSpeed >= 35.0) {
_walkingState = 1; // start walking
_footStepping = std::rand() % 2 + 1; // pick a random foot to take a step
_stepDir = dir;
_stepTimeinStep = stepTime;
delayFrame = 2;
if (_footStepping == 1) {
_rightFootTarget = rFoot->m_worldTransform.pos + _stepDir * (curSpeed * stepTime * 1.5);
_rightFootStart = rFoot->m_worldTransform.pos;
_leftFootTarget = lFoot->m_worldTransform.pos;
_leftFootStart = lFoot->m_worldTransform.pos;
_leftFootPos = _leftFootStart;
_rightFootPos = _rightFootStart;
}
else {
_rightFootTarget = rFoot->m_worldTransform.pos;
_rightFootStart = rFoot->m_worldTransform.pos;
_leftFootTarget = lFoot->m_worldTransform.pos + _stepDir * (curSpeed * stepTime * 1.5);
_leftFootStart = lFoot->m_worldTransform.pos;
_leftFootPos = _leftFootStart;
_rightFootPos = _rightFootStart;
}
_currentStepTime = stepTime / 2;
break;
}
_currentStepTime = 0.0;
_footStepping = 0;
spineAngle = 0.0;
break;
}
case 1: {
if (curSpeed < 20.0) {
_walkingState = 2; // begin process to stop walking
_currentStepTime = 0.0;
}
break;
}
case 2: {
if (curSpeed >= 20.0) {
_walkingState = 1; // resume walking
_currentStepTime = 0.0;
}
break;
}
case 3: {
_stepDir = dir;
if (_footStepping == 1) {
_rightFootTarget = rFoot->m_worldTransform.pos + _stepDir * (curSpeed * stepTime * 0.1);
}
else {
_leftFootTarget = lFoot->m_worldTransform.pos + _stepDir * (curSpeed * stepTime * 0.1);
}
_walkingState = 1;
break;
}
default: {
_walkingState = 0;
break;
}
}
}
else {
_walkingState = 0;
}
if (_walkingState == 0) {
// we're standing still so just set foot positions accordingly.
_leftFootPos = lFoot->m_worldTransform.pos;
_rightFootPos = rFoot->m_worldTransform.pos;
_leftFootPos.z = _root->m_worldTransform.pos.z;
_rightFootPos.z = _root->m_worldTransform.pos.z;
return;
}
else if (_walkingState == 1) {
NiPoint3 dirOffset = dir - _stepDir;
float dot = vec3_dot(dir, _stepDir);
double scale = (std::min)(curSpeed * stepTime * 1.5, 140.0);
dirOffset = dirOffset * scale;
int sign = 1;
_currentStepTime += _frameTime;
double frameStep = _frameTime / (_stepTimeinStep);
double interp = std::clamp(frameStep * (_currentStepTime / _frameTime), 0.0, 1.0);
if (_footStepping == 1) {
sign = -1;
if (dot < 0.9) {
if (!delayFrame) {
_rightFootTarget += dirOffset;
_stepDir = dir;
delayFrame = 2;
}
else {
delayFrame--;
}
}
else {
delayFrame = delayFrame == 2 ? delayFrame : delayFrame + 1;
}
_rightFootTarget.z = _root->m_worldTransform.pos.z;
_rightFootStart.z = _root->m_worldTransform.pos.z;
_rightFootPos = _rightFootStart + ((_rightFootTarget - _rightFootStart) * interp);
double stepAmount = std::clamp(vec3_len(_rightFootTarget - _rightFootStart) / 150.0, 0.0, 1.0);
double stepHeight = (std::max)(stepAmount * 9.0, 1.0);
float up = sinf(interp * PI) * stepHeight;
_rightFootPos.z += up;
}
else {
if (dot < 0.9) {
if (!delayFrame) {
_leftFootTarget += dirOffset;
_stepDir = dir;
delayFrame = 2;
}
else {
delayFrame--;
}
}
else {
delayFrame = delayFrame == 2 ? delayFrame : delayFrame + 1;
}
_leftFootTarget.z = _root->m_worldTransform.pos.z;
_leftFootStart.z = _root->m_worldTransform.pos.z;
_leftFootPos = _leftFootStart + ((_leftFootTarget - _leftFootStart) * interp);
double stepAmount = std::clamp(vec3_len(_leftFootTarget - _leftFootStart) / 150.0, 0.0, 1.0);
double stepHeight = (std::max)(stepAmount * 9.0, 1.0);
float up = sinf(interp * PI) * stepHeight;
_leftFootPos.z += up;
}
spineAngle = sign * sinf(interp * PI) * 3.0;
Matrix44 rot;
rot.setEulerAngles(degrees_to_rads(spineAngle), 0.0, 0.0);
_spine->m_localTransform.rot = rot.multiply43Left(_spine->m_localTransform.rot);
if (_currentStepTime > stepTime) {
_currentStepTime = 0.0;
_stepDir = dir;
_stepTimeinStep = stepTime;
//_MESSAGE("%2f %2f", curSpeed, stepTime);
if (_footStepping == 1) {
_footStepping = 2;
_leftFootTarget = lFoot->m_worldTransform.pos + _stepDir * scale;
_leftFootStart = _leftFootPos;
}
else {
_footStepping = 1;
_rightFootTarget = rFoot->m_worldTransform.pos + _stepDir * scale;
_rightFootStart = _rightFootPos;
}
}
return;
}
else if (_walkingState == 2) {
_leftFootPos = lFoot->m_worldTransform.pos;
_rightFootPos = rFoot->m_worldTransform.pos;
_walkingState = 0;
return;
}
}
void Skeleton::setLegs() {
Matrix44 rotatedM;
NiNode* lHip = getNode("LLeg_Thigh", _root);
NiNode* rHip = getNode("RLeg_Thigh", _root);
NiNode* lKnee = getNode("LLeg_Calf", lHip);
NiNode* rKnee = getNode("RLeg_Calf", rHip);
NiNode* lFoot = getNode("LLeg_Foot", lHip);
NiNode* rFoot = getNode("RLeg_Foot", rHip);
NiPoint3 pos = _leftKneePos - lHip->m_worldTransform.pos;
NiPoint3 uLocalDir = lHip->m_worldTransform.rot.Transpose() * vec3_norm(pos) / lHip->m_worldTransform.scale;
rotatedM.rotateVectoVec(uLocalDir, lKnee->m_localTransform.pos);
lHip->m_localTransform.rot = rotatedM.multiply43Left(lHip->m_localTransform.rot);
pos = _rightKneePos - rHip->m_worldTransform.pos;