joint_limitation_3d.cpp

/**************************************************************************/
/*  joint_limitation_3d.cpp                                               */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
/*                                                                        */
/* Permission is hereby granted, free of charge, to any person obtaining  */
/* a copy of this software and associated documentation files (the        */
/* "Software"), to deal in the Software without restriction, including    */
/* without limitation the rights to use, copy, modify, merge, publish,    */
/* distribute, sublicense, and/or sell copies of the Software, and to     */
/* permit persons to whom the Software is furnished to do so, subject to  */
/* the following conditions:                                              */
/*                                                                        */
/* The above copyright notice and this permission notice shall be         */
/* included in all copies or substantial portions of the Software.        */
/*                                                                        */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
/**************************************************************************/

#include "joint_limitation_3d.h"

#include "scene/3d/skeleton_modifier_3d.h"

Quaternion JointLimitation3D::make_space(const Vector3 &p_local_forward_vector, const Vector3 &p_local_right_vector, const Quaternion &p_rotation_offset) const {
	const double ALMOST_ONE = 1.0 - CMP_EPSILON;
	// The default is to interpret the forward vector as the +Y axis.
	Vector3 axis_y = p_local_forward_vector.normalized();
	Vector3 axis_x = p_local_right_vector.normalized();
	if (axis_x.is_zero_approx() || Math::abs(axis_x.dot(axis_y)) > ALMOST_ONE) {
		return (Quaternion(Vector3(0, 1, 0), axis_y) * p_rotation_offset.normalized()).normalized();
	}
	// Prior X axis.
	Vector3 axis_z = axis_x.cross(axis_y);
	axis_z.normalize();
	axis_x = axis_y.cross(axis_z);
	axis_x.normalize();
	return (Basis(axis_x, axis_y, axis_z).get_rotation_quaternion() * p_rotation_offset.normalized()).normalized();
}

Vector3 JointLimitation3D::_solve(const Vector3 &p_direction) const {
	return p_direction;
}

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 {
	Quaternion space = make_space(p_local_forward_vector, p_local_right_vector, p_rotation_offset);
	Vector3 dir = p_local_current_vector.normalized();
	return space.xform(_solve(space.xform_inv(dir)));
}

#ifdef TOOLS_ENABLED
void JointLimitation3D::draw_shape(Ref<SurfaceTool> &p_surface_tool, const Transform3D &p_transform, float p_bone_length, const Color &p_color) const {
	//
}
#endif // TOOLS_ENABLED