mirror of
https://github.com/EsotericSoftware/spine-runtimes.git
synced 2026-02-04 14:24:53 +08:00
380 lines
11 KiB
C++
380 lines
11 KiB
C++
/******************************************************************************
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* Spine Runtimes License Agreement
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* Last updated July 28, 2023. Replaces all prior versions.
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*
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* Copyright (c) 2013-2023, Esoteric Software LLC
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*
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* Integration of the Spine Runtimes into software or otherwise creating
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* derivative works of the Spine Runtimes is permitted under the terms and
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* conditions of Section 2 of the Spine Editor License Agreement:
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* http://esotericsoftware.com/spine-editor-license
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*
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* Otherwise, it is permitted to integrate the Spine Runtimes into software or
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* otherwise create derivative works of the Spine Runtimes (collectively,
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* "Products"), provided that each user of the Products must obtain their own
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* Spine Editor license and redistribution of the Products in any form must
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* include this license and copyright notice.
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*
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* THE SPINE RUNTIMES ARE PROVIDED BY ESOTERIC SOFTWARE LLC "AS IS" AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL ESOTERIC SOFTWARE LLC BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES,
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* BUSINESS INTERRUPTION, OR LOSS OF USE, DATA, OR PROFITS) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THE
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* SPINE RUNTIMES, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*****************************************************************************/
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#include <spine/IkConstraint.h>
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#include <spine/Bone.h>
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#include <spine/IkConstraintData.h>
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#include <spine/Skeleton.h>
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#include <spine/BoneData.h>
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using namespace spine;
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RTTI_IMPL(IkConstraint, Updatable)
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void IkConstraint::apply(Bone &bone, float targetX, float targetY, bool compress, bool stretch, bool uniform, float alpha) {
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Bone *p = bone.getParent();
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float pa = p->_a, pb = p->_b, pc = p->_c, pd = p->_d;
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float rotationIK = -bone._ashearX - bone._arotation;
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float tx = 0, ty = 0;
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switch (bone._inherit) {
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case Inherit_OnlyTranslation:
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tx = (targetX - bone._worldX) * MathUtil::sign(bone.getSkeleton().getScaleX());
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ty = (targetY - bone._worldY) * MathUtil::sign(bone.getSkeleton().getScaleY());
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break;
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case Inherit_NoRotationOrReflection: {
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float s = MathUtil::abs(pa * pd - pb * pc) / MathUtil::max(0.0001f, pa * pa + pc * pc);
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float sa = pa / bone._skeleton.getScaleX();
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float sc = pc / bone._skeleton.getScaleY();
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pb = -sc * s * bone._skeleton.getScaleX();
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pd = sa * s * bone._skeleton.getScaleY();
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rotationIK += MathUtil::atan2Deg(sc, sa);
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}
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default:
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float x = targetX - p->_worldX, y = targetY - p->_worldY;
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float d = pa * pd - pb * pc;
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if (MathUtil::abs(d) <= 0.0001f) {
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tx = 0;
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ty = 0;
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} else {
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tx = (x * pd - y * pb) / d - bone._ax;
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ty = (y * pa - x * pc) / d - bone._ay;
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}
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}
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rotationIK += MathUtil::atan2Deg(ty, tx);
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if (bone._ascaleX < 0) rotationIK += 180;
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if (rotationIK > 180) rotationIK -= 360;
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else if (rotationIK < -180)
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rotationIK += 360;
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float sx = bone._ascaleX;
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float sy = bone._ascaleY;
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if (compress || stretch) {
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switch (bone._inherit) {
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case Inherit_NoScale:
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case Inherit_NoScaleOrReflection:
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tx = targetX - bone._worldX;
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ty = targetY - bone._worldY;
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default:;
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}
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float b = bone._data.getLength() * sx;
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if (b > 0.0001) {
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float dd = tx * tx + ty * ty;
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if ((compress && dd < b * b) || (stretch && dd > b * b)) {
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float s = (MathUtil::sqrt(dd) / b - 1) * alpha + 1;
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sx *= s;
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if (uniform) sy *= s;
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}
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}
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}
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bone.updateWorldTransform(bone._ax, bone._ay, bone._arotation + rotationIK * alpha, sx, sy, bone._ashearX,
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bone._ashearY);
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}
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void IkConstraint::apply(Bone &parent, Bone &child, float targetX, float targetY, int bendDir, bool stretch, bool uniform,
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float softness,
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float alpha) {
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float a, b, c, d;
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float px, py, psx, psy, sx, sy;
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float cx, cy, csx, cwx, cwy;
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int o1, o2, s2, u;
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Bone *pp = parent.getParent();
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float tx, ty, dx, dy, dd, l1, l2, a1, a2, r, td, sd, p;
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float id, x, y;
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if (parent._inherit != Inherit_Normal || child._inherit != Inherit_Normal) return;
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px = parent._ax;
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py = parent._ay;
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psx = parent._ascaleX;
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psy = parent._ascaleY;
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sx = psx;
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sy = psy;
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csx = child._ascaleX;
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if (psx < 0) {
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psx = -psx;
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o1 = 180;
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s2 = -1;
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} else {
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o1 = 0;
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s2 = 1;
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}
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if (psy < 0) {
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psy = -psy;
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s2 = -s2;
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}
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if (csx < 0) {
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csx = -csx;
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o2 = 180;
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} else
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o2 = 0;
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r = psx - psy;
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cx = child._ax;
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u = (r < 0 ? -r : r) <= 0.0001f;
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if (!u || stretch) {
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cy = 0;
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cwx = parent._a * cx + parent._worldX;
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cwy = parent._c * cx + parent._worldY;
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} else {
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cy = child._ay;
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cwx = parent._a * cx + parent._b * cy + parent._worldX;
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cwy = parent._c * cx + parent._d * cy + parent._worldY;
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}
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a = pp->_a;
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b = pp->_b;
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c = pp->_c;
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d = pp->_d;
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id = a * d - b * c;
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id = MathUtil::abs(id) <= 0.0001f ? 0 : 1 / id;
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x = cwx - pp->_worldX;
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y = cwy - pp->_worldY;
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dx = (x * d - y * b) * id - px;
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dy = (y * a - x * c) * id - py;
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l1 = MathUtil::sqrt(dx * dx + dy * dy);
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l2 = child._data.getLength() * csx;
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if (l1 < 0.0001) {
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apply(parent, targetX, targetY, false, stretch, false, alpha);
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child.updateWorldTransform(cx, cy, 0, child._ascaleX, child._ascaleY, child._ashearX, child._ashearY);
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return;
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}
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x = targetX - pp->_worldX;
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y = targetY - pp->_worldY;
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tx = (x * d - y * b) * id - px;
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ty = (y * a - x * c) * id - py;
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dd = tx * tx + ty * ty;
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if (softness != 0) {
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softness *= psx * (csx + 1) * 0.5f;
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td = MathUtil::sqrt(dd);
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sd = td - l1 - l2 * psx + softness;
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if (sd > 0) {
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p = MathUtil::min(1.0f, sd / (softness * 2)) - 1;
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p = (sd - softness * (1 - p * p)) / td;
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tx -= p * tx;
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ty -= p * ty;
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dd = tx * tx + ty * ty;
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}
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}
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if (u) {
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float cosine;
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l2 *= psx;
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cosine = (dd - l1 * l1 - l2 * l2) / (2 * l1 * l2);
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if (cosine < -1) {
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cosine = -1;
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a2 = MathUtil::Pi * bendDir;
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} else if (cosine > 1) {
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cosine = 1;
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a2 = 0;
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if (stretch) {
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a = (MathUtil::sqrt(dd) / (l1 + l2) - 1) * alpha + 1;
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sx *= a;
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if (uniform) sy *= a;
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}
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} else
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a2 = MathUtil::acos(cosine) * bendDir;
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a = l1 + l2 * cosine;
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b = l2 * MathUtil::sin(a2);
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a1 = MathUtil::atan2(ty * a - tx * b, tx * a + ty * b);
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} else {
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a = psx * l2;
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b = psy * l2;
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float aa = a * a, bb = b * b, ll = l1 * l1, ta = MathUtil::atan2(ty, tx);
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float c0 = bb * ll + aa * dd - aa * bb, c1 = -2 * bb * l1, c2 = bb - aa;
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d = c1 * c1 - 4 * c2 * c0;
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if (d >= 0) {
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float q = MathUtil::sqrt(d), r0, r1;
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if (c1 < 0) q = -q;
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q = -(c1 + q) * 0.5f;
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r0 = q / c2;
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r1 = c0 / q;
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r = MathUtil::abs(r0) < MathUtil::abs(r1) ? r0 : r1;
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if (r * r <= dd) {
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y = MathUtil::sqrt(dd - r * r) * bendDir;
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a1 = ta - MathUtil::atan2(y, r);
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a2 = MathUtil::atan2(y / psy, (r - l1) / psx);
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goto break_outer;
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}
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}
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{
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float minAngle = MathUtil::Pi, minX = l1 - a, minDist = minX * minX, minY = 0;
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float maxAngle = 0, maxX = l1 + a, maxDist = maxX * maxX, maxY = 0;
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c0 = -a * l1 / (aa - bb);
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if (c0 >= -1 && c0 <= 1) {
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c0 = MathUtil::acos(c0);
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x = a * MathUtil::cos(c0) + l1;
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y = b * MathUtil::sin(c0);
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d = x * x + y * y;
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if (d < minDist) {
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minAngle = c0;
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minDist = d;
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minX = x;
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minY = y;
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}
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if (d > maxDist) {
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maxAngle = c0;
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maxDist = d;
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maxX = x;
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maxY = y;
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}
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}
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if (dd <= (minDist + maxDist) * 0.5f) {
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a1 = ta - MathUtil::atan2(minY * bendDir, minX);
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a2 = minAngle * bendDir;
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} else {
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a1 = ta - MathUtil::atan2(maxY * bendDir, maxX);
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a2 = maxAngle * bendDir;
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}
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}
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}
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break_outer : {
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float os = MathUtil::atan2(cy, cx) * s2;
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a1 = (a1 - os) * MathUtil::Rad_Deg + o1 - parent._arotation;
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if (a1 > 180) a1 -= 360;
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else if (a1 < -180)
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a1 += 360;
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parent.updateWorldTransform(px, py, parent._arotation + a1 * alpha, sx, sy, 0, 0);
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a2 = ((a2 + os) * MathUtil::Rad_Deg - child._ashearX) * s2 + o2 - child._arotation;
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if (a2 > 180) a2 -= 360;
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else if (a2 < -180)
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a2 += 360;
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child.updateWorldTransform(cx, cy, child._arotation + a2 * alpha, child._ascaleX, child._ascaleY,
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child._ashearX, child._ashearY);
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}
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}
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IkConstraint::IkConstraint(IkConstraintData &data, Skeleton &skeleton) : Updatable(),
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_data(data),
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_bendDirection(data.getBendDirection()),
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_compress(data.getCompress()),
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_stretch(data.getStretch()),
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_mix(data.getMix()),
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_softness(data.getSoftness()),
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_target(skeleton.findBone(
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data.getTarget()->getName())),
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_active(false) {
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_bones.ensureCapacity(_data.getBones().size());
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for (size_t i = 0; i < _data.getBones().size(); i++) {
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BoneData *boneData = _data.getBones()[i];
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_bones.add(skeleton.findBone(boneData->getName()));
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}
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}
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void IkConstraint::update(Physics) {
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if (_mix == 0) return;
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switch (_bones.size()) {
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case 1: {
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Bone *bone0 = _bones[0];
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apply(*bone0, _target->getWorldX(), _target->getWorldY(), _compress, _stretch, _data._uniform, _mix);
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} break;
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case 2: {
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Bone *bone0 = _bones[0];
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Bone *bone1 = _bones[1];
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apply(*bone0, *bone1, _target->getWorldX(), _target->getWorldY(), _bendDirection, _stretch, _data._uniform,
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_softness,
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_mix);
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} break;
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}
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}
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int IkConstraint::getOrder() {
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return (int) _data.getOrder();
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}
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IkConstraintData &IkConstraint::getData() {
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return _data;
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}
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Vector<Bone *> &IkConstraint::getBones() {
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return _bones;
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}
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Bone *IkConstraint::getTarget() {
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return _target;
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}
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void IkConstraint::setTarget(Bone *inValue) {
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_target = inValue;
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}
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int IkConstraint::getBendDirection() {
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return _bendDirection;
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}
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void IkConstraint::setBendDirection(int inValue) {
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_bendDirection = inValue;
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}
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float IkConstraint::getMix() {
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return _mix;
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}
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void IkConstraint::setMix(float inValue) {
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_mix = inValue;
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}
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bool IkConstraint::getStretch() {
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return _stretch;
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}
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void IkConstraint::setStretch(bool inValue) {
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_stretch = inValue;
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}
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bool IkConstraint::getCompress() {
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return _compress;
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}
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void IkConstraint::setCompress(bool inValue) {
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_compress = inValue;
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}
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bool IkConstraint::isActive() {
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return _active;
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}
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void IkConstraint::setActive(bool inValue) {
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_active = inValue;
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}
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float IkConstraint::getSoftness() {
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return _softness;
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}
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void IkConstraint::setSoftness(float inValue) {
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_softness = inValue;
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}
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void IkConstraint::setToSetupPose() {
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IkConstraintData &data = this->_data;
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this->_mix = data._mix;
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this->_softness = data._softness;
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this->_bendDirection = data._bendDirection;
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this->_compress = data._compress;
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this->_stretch = data._stretch;
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}
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