/****************************************************************************** * Spine Runtimes Software License v2.5 * * Copyright (c) 2013-2016, Esoteric Software * All rights reserved. * * You are granted a perpetual, non-exclusive, non-sublicensable, and * non-transferable license to use, install, execute, and perform the Spine * Runtimes software and derivative works solely for personal or internal * use. Without the written permission of Esoteric Software (see Section 2 of * the Spine Software License Agreement), you may not (a) modify, translate, * adapt, or develop new applications using the Spine Runtimes or otherwise * create derivative works or improvements of the Spine Runtimes or (b) remove, * delete, alter, or obscure any trademarks or any copyright, trademark, patent, * or other intellectual property or proprietary rights notices on or in the * Software, including any copy thereof. Redistributions in binary or source * form must include this license and terms. * * THIS SOFTWARE IS PROVIDED BY ESOTERIC SOFTWARE "AS IS" AND ANY EXPRESS OR * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO * EVENT SHALL ESOTERIC SOFTWARE BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES, BUSINESS INTERRUPTION, OR LOSS OF * USE, DATA, OR PROFITS) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER * IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *****************************************************************************/ #include <spine/IkConstraint.h> #include <spine/Skeleton.h> #include <spine/extension.h> #include <float.h> spIkConstraint *spIkConstraint_create(spIkConstraintData *data, const spSkeleton *skeleton) { int i; spIkConstraint *self = NEW(spIkConstraint); CONST_CAST(spIkConstraintData*, self->data) = data; self->bendDirection = data->bendDirection; self->mix = data->mix; self->bonesCount = self->data->bonesCount; self->bones = MALLOC(spBone*, self->bonesCount); for (i = 0; i < self->bonesCount; ++i) self->bones[i] = spSkeleton_findBone(skeleton, self->data->bones[i]->name); self->target = spSkeleton_findBone(skeleton, self->data->target->name); return self; } void spIkConstraint_dispose(spIkConstraint *self) { FREE(self->bones); FREE(self); } void spIkConstraint_apply(spIkConstraint *self) { switch (self->bonesCount) { case 1: spIkConstraint_apply1(self->bones[0], self->target->worldX, self->target->worldY, self->mix); break; case 2: spIkConstraint_apply2(self->bones[0], self->bones[1], self->target->worldX, self->target->worldY, self->bendDirection, self->mix); break; } } void spIkConstraint_apply1 (spBone* bone, float targetX, float targetY, float alpha) { spBone* p = bone->parent; float id, x, y, tx, ty, rotationIK; if (!bone->appliedValid) spBone_updateAppliedTransform(bone); id = 1 / (p->a * p->d - p->b * p->c); x = targetX - p->worldX, y = targetY - p->worldY; tx = (x * p->d - y * p->b) * id - bone->ax; ty = (y * p->a - x * p->c) * id - bone->ay; rotationIK = ATAN2(ty, tx) * RAD_DEG - bone->ashearX - bone->arotation; if (bone->ascaleX < 0) rotationIK += 180; if (rotationIK > 180) rotationIK -= 360; else if (rotationIK < -180) rotationIK += 360; spBone_updateWorldTransformWith(bone, bone->ax, bone->ay, bone->arotation + rotationIK * alpha, bone->ascaleX, bone->ascaleY, bone->ashearX, bone->ashearY); } void spIkConstraint_apply2 (spBone* parent, spBone* child, float targetX, float targetY, int bendDir, float alpha) { float px, py, psx, psy; float cx, cy, csx, cwx, cwy; int o1, o2, s2, u; spBone* pp = parent->parent; float tx, ty, dx, dy, l1, l2, a1, a2, r; float id, x, y; if (alpha == 0) { spBone_updateWorldTransform(child); return; } if (!parent->appliedValid) spBone_updateAppliedTransform(parent); if (!child->appliedValid) spBone_updateAppliedTransform(child); px = parent->ax; py = parent->ay; psx = parent->ascaleX; psy = parent->ascaleY; csx = child->ascaleX; if (psx < 0) { psx = -psx; o1 = 180; s2 = -1; } else { o1 = 0; s2 = 1; } if (psy < 0) { psy = -psy; s2 = -s2; } if (csx < 0) { csx = -csx; o2 = 180; } else o2 = 0; r = psx - psy; cx = child->ax; u = (r < 0 ? -r : r) <= 0.0001f; if (!u) { cy = 0; cwx = parent->a * cx + parent->worldX; cwy = parent->c * cx + parent->worldY; } else { cy = child->ay; cwx = parent->a * cx + parent->b * cy + parent->worldX; cwy = parent->c * cx + parent->d * cy + parent->worldY; } id = 1 / (pp->a * pp->d - pp->b * pp->c); x = targetX - pp->worldX; y = targetY - pp->worldY; tx = (x * pp->d - y * pp->b) * id - px; ty = (y * pp->a - x * pp->c) * id - py; x = cwx - pp->worldX; y = cwy - pp->worldY; dx = (x * pp->d - y * pp->b) * id - px; dy = (y * pp->a - x * pp->c) * id - py; l1 = SQRT(dx * dx + dy * dy); l2 = child->data->length * csx; if (u) { float cosine, a, b; l2 *= psx; cosine = (tx * tx + ty * ty - l1 * l1 - l2 * l2) / (2 * l1 * l2); if (cosine < -1) cosine = -1; else if (cosine > 1) cosine = 1; a2 = ACOS(cosine) * bendDir; a = l1 + l2 * cosine; b = l2 * SIN(a2); a1 = ATAN2(ty * a - tx * b, tx * a + ty * b); } else { float a = psx * l2, b = psy * l2; float aa = a * a, bb = b * b, ll = l1 * l1, dd = tx * tx + ty * ty, ta = ATAN2(ty, tx); float c0 = bb * ll + aa * dd - aa * bb, c1 = -2 * bb * l1, c2 = bb - aa; float d = c1 * c1 - 4 * c2 * c0; if (d >= 0) { float q = SQRT(d), r0, r1; if (c1 < 0) q = -q; q = -(c1 + q) / 2; r0 = q / c2; r1 = c0 / q; r = ABS(r0) < ABS(r1) ? r0 : r1; if (r * r <= dd) { y = SQRT(dd - r * r) * bendDir; a1 = ta - ATAN2(y, r); a2 = ATAN2(y / psy, (r - l1) / psx); goto outer; } } { float minAngle = PI, minX = l1 - a, minDist = minX * minX, minY = 0; float maxAngle = 0, maxX = l1 + a, maxDist = maxX * maxX, maxY = 0; c0 = -a * l1 / (aa - bb); if (c0 >= -1 && c0 <= 1) { c0 = ACOS(c0); x = a * COS(c0) + l1; y = b * SIN(c0); d = x * x + y * y; if (d < minDist) { minAngle = c0; minDist = d; minX = x; minY = y; } if (d > maxDist) { maxAngle = c0; maxDist = d; maxX = x; maxY = y; } } if (dd <= (minDist + maxDist) / 2) { a1 = ta - ATAN2(minY * bendDir, minX); a2 = minAngle * bendDir; } else { a1 = ta - ATAN2(maxY * bendDir, maxX); a2 = maxAngle * bendDir; } } } outer: { float os = ATAN2(cy, cx) * s2; a1 = (a1 - os) * RAD_DEG + o1 - parent->arotation; if (a1 > 180) a1 -= 360; else if (a1 < -180) a1 += 360; spBone_updateWorldTransformWith(parent, px, py, parent->rotation + a1 * alpha, parent->ascaleX, parent->ascaleY, 0, 0); a2 = ((a2 + os) * RAD_DEG - child->ashearX) * s2 + o2 - child->arotation; if (a2 > 180) a2 -= 360; else if (a2 < -180) a2 += 360; spBone_updateWorldTransformWith(child, cx, cy, child->arotation + a2 * alpha, child->ascaleX, child->ascaleY, child->ashearX, child->ashearY); } }