initial

bonesetup/_vpc_/manifest_bonesetup/win32/manifest.txt

@@ -0,0 +1,40 @@
+// ----------------------------------------- //
+//           File generated by VPC           //
+// ----------------------------------------- //
+
+Source file:            F:\csgo_64\cstrike15_src\bonesetup\bone_constraints.cpp
+Debug output file:      F:\csgo_64\cstrike15_src\bonesetup\bone_constraints.cpp
+Release output file:    F:\csgo_64\cstrike15_src\bonesetup\bone_constraints.cpp
+Containing unity file:  
+PCH file:               
+
+Source file:            F:\csgo_64\cstrike15_src\bonesetup\bone_decode.cpp
+Debug output file:      F:\csgo_64\cstrike15_src\bonesetup\bone_decode.cpp
+Release output file:    F:\csgo_64\cstrike15_src\bonesetup\bone_decode.cpp
+Containing unity file:  
+PCH file:               
+
+Source file:            F:\csgo_64\cstrike15_src\bonesetup\bone_ik.cpp
+Debug output file:      F:\csgo_64\cstrike15_src\bonesetup\bone_ik.cpp
+Release output file:    F:\csgo_64\cstrike15_src\bonesetup\bone_ik.cpp
+Containing unity file:  
+PCH file:               
+
+Source file:            F:\csgo_64\cstrike15_src\bonesetup\bone_setup.cpp
+Debug output file:      F:\csgo_64\cstrike15_src\bonesetup\bone_setup.cpp
+Release output file:    F:\csgo_64\cstrike15_src\bonesetup\bone_setup.cpp
+Containing unity file:  
+PCH file:               
+
+Source file:            F:\csgo_64\cstrike15_src\bonesetup\bone_utils.cpp
+Debug output file:      F:\csgo_64\cstrike15_src\bonesetup\bone_utils.cpp
+Release output file:    F:\csgo_64\cstrike15_src\bonesetup\bone_utils.cpp
+Containing unity file:  
+PCH file:               
+
+Source file:            F:\csgo_64\cstrike15_src\common\debug_lib_check.cpp
+Debug output file:      F:\csgo_64\cstrike15_src\common\debug_lib_check.cpp
+Release output file:    F:\csgo_64\cstrike15_src\common\debug_lib_check.cpp
+Containing unity file:  
+PCH file:               
+

bonesetup/bone_constraints.cpp

@@ -0,0 +1,898 @@
+//============ Copyright (c) Valve Corporation, All rights reserved. ============
+//
+// Routines used for various prodcedural bones but meant to be called from
+// datamodel or maya as well
+//
+// In a separate source file so linking bonesetup.lib doesn't get more than
+// needed
+//
+//===============================================================================
+
+
+// Valve includes
+#include "mathlib/mathlib.h"
+#include "mathlib/vector.h"
+#include "tier1/strtools.h"
+#include "bone_setup.h"
+#include "bone_constraints.h"
+#include "bone_accessor.h"
+#include "studio.h"
+
+#include "tier0/tslist.h"
+#include "tier0/miniprofiler.h"
+
+#include "bone_utils.h"
+
+// memdbgon must be the last include file in a .cpp file!!!
+#include "tier0/memdbgon.h"
+
+//=============================================================================
+//=============================================================================
+//
+// CConstraintBones
+//
+//=============================================================================
+//=============================================================================
+
+//-----------------------------------------------------------------------------
+// Compute the aggregate target position and orientation from the weighted target list and return
+// the resulting position and orientation in addition to updating the target dag.
+// All passed arrays must be nTargetCount in length
+//-----------------------------------------------------------------------------
+float CConstraintBones::ComputeTargetPosition(
+	Vector &vTargetPosition,
+	int nTargetCount,
+	float *flTargetWeights,
+	Vector *vTargetPositions,
+	Vector *vTargetOffsets )
+{
+	vTargetPosition = vec3_origin;
+	float flWeightSum = 0.0;
+
+	for ( int i = 0; i < nTargetCount; ++i )
+	{
+		vTargetPosition += ( flTargetWeights[i] * ( vTargetPositions[i] + vTargetOffsets[i] ) );
+		flWeightSum += flTargetWeights[i];
+	}
+
+	if ( flWeightSum > 0.0f )
+	{
+		vTargetPosition *= 1.0f / flWeightSum;
+	}
+
+	return MIN( 1.0f, flWeightSum );
+}
+
+
+//-----------------------------------------------------------------------------
+// Compute the aggregate target orientation from the weighted target list and 
+// return the total weight
+// All passed arrays must be nTargetCount in length
+//-----------------------------------------------------------------------------
+float CConstraintBones::ComputeTargetOrientation(
+	Quaternion &qTargetOrientation,
+	int nTargetCount,
+	float *pflTargetWeights,
+	Quaternion *pqTargetOrientations,
+	Quaternion *pqTargetOffsets )
+{
+	// If there is only one target, for efficiency don't bother with the weighting
+	if ( nTargetCount == 1 )
+	{
+		QuaternionMult( pqTargetOrientations[0], pqTargetOffsets[0], qTargetOrientation );
+
+		return MIN( 1.0f, pflTargetWeights[0] );
+	}
+
+	qTargetOrientation = quat_identity;
+
+	// If no targets, return identity quaternion and weight of 0
+	if ( nTargetCount <= 0 )
+		return 0.0f;
+
+	Quaternion *pQuats = reinterpret_cast< Quaternion * >( stackalloc( nTargetCount * sizeof( Quaternion ) ) );
+
+	float flWeightSum = 0.0f;
+
+	for ( int i = 0; i < nTargetCount; ++i )
+	{
+		QuaternionMult( pqTargetOrientations[i], pqTargetOffsets[i], pQuats[i] );
+		flWeightSum += pflTargetWeights[i];
+	}
+
+	QuaternionAverageExponential( qTargetOrientation, nTargetCount, pQuats, pflTargetWeights );
+
+	return MIN( 1.0f, flWeightSum );
+}
+
+
+//-----------------------------------------------------------------------------
+// Compute the aggregate target position and orientation from the weighted
+// target list and return the total weight
+// All passed arrays must be nTargetCount in length
+//-----------------------------------------------------------------------------
+float CConstraintBones::ComputeTargetPositionOrientation(
+	Vector &vTargetPosition,
+	Quaternion &qTargetOrientation,
+	int nTargetCount,
+	float *pflTargetWeights,
+	Vector *pvTargetPositions,
+	Vector *pvTargetOffsets,
+	Quaternion *pqTargetOrientations,
+	Quaternion *pqTargetOffsets )
+{
+	Quaternion *pQuats = reinterpret_cast< Quaternion *>( stackalloc( nTargetCount * sizeof( Quaternion ) ) );
+
+	float flWeightSum = 0.0f;
+
+	vTargetPosition = vec3_origin;
+	qTargetOrientation = quat_identity;
+
+	for ( int i = 0; i < nTargetCount; ++i )
+	{
+		float flWeight = pflTargetWeights[i];
+
+		matrix3x4a_t mTarget;
+		AngleMatrix( RadianEuler(pqTargetOrientations[i]), pvTargetPositions[i], mTarget );
+
+		matrix3x4a_t mOffset;
+		AngleMatrix( RadianEuler(pqTargetOffsets[i]), pvTargetOffsets[i], mOffset );
+
+		matrix3x4a_t mAbs;
+		ConcatTransforms( mTarget, mOffset, mAbs );
+
+		Vector vPos;
+		MatrixAngles( mAbs, pQuats[i], vPos );
+
+		vTargetPosition += ( flWeight * vPos );
+
+		// For normalization
+		flWeightSum += flWeight;
+	}
+
+	if ( flWeightSum > 0.0f )
+	{
+		vTargetPosition *= 1.0f / flWeightSum;
+	}
+
+	QuaternionAverageExponential( qTargetOrientation, nTargetCount, pQuats, pflTargetWeights );
+
+	return MIN( 1.0f, flWeightSum );
+}
+
+
+//-----------------------------------------------------------------------------
+// Compute the aggregate target position and orientation from the weighted
+// target list and return the total weight
+// All passed arrays must be nTargetCount in length
+//-----------------------------------------------------------------------------
+float CConstraintBones::ComputeTargetPositionOrientation(
+	Vector &vTargetPosition,
+	Quaternion &qTargetOrientation,
+	int nTargetCount,
+	float *pflTargetWeights,
+	matrix3x4a_t *pmTargets,
+	matrix3x4a_t *pmOffsets )
+{
+	Quaternion *pQuats = reinterpret_cast< Quaternion *>( stackalloc( nTargetCount * sizeof( Quaternion ) ) );
+
+	float flWeightSum = 0.0f;
+
+	vTargetPosition = vec3_origin;
+	qTargetOrientation = quat_identity;
+
+	matrix3x4a_t mAbs;
+	Vector vPos;
+
+	for ( int i = 0; i < nTargetCount; ++i )
+	{
+		float flWeight = pflTargetWeights[i];
+
+		ConcatTransforms( pmTargets[i], pmOffsets[i], mAbs );
+
+		MatrixAngles( mAbs, pQuats[i], vPos );
+
+		vTargetPosition += ( flWeight * vPos );
+
+		// For normalization
+		flWeightSum += flWeight;
+	}
+
+	if ( flWeightSum > 0.0f )
+	{
+		vTargetPosition *= 1.0f / flWeightSum;
+	}
+
+	QuaternionAverageExponential( qTargetOrientation, nTargetCount, pQuats, pflTargetWeights );
+
+	return MIN( 1.0f, flWeightSum );
+}
+
+
+//-----------------------------------------------------------------------------
+//
+//-----------------------------------------------------------------------------
+void CConstraintBones::ComputeAimConstraintOffset(
+	Quaternion &qAimOffset,
+	bool bPreserveOffset,
+	const Vector &vTargetWorldPos,
+	const matrix3x4_t &mSlaveParentToWorld,
+	const Vector &vUp,
+	const Vector &vSlaveLocalPos,
+	const Quaternion &qSlaveLocal,
+	matrix3x4_t *pmUpToWorld,
+	AimConstraintUpType_t eUpType )
+{
+	if ( !bPreserveOffset )
+	{
+		qAimOffset = quat_identity;
+		return;
+	}
+
+	// Calculate the desired orientation based the target position
+	Quaternion qAim;
+	ComputeAimConstraint( qAim, vTargetWorldPos, mSlaveParentToWorld, vUp, vSlaveLocalPos, pmUpToWorld, eUpType );
+
+	// Compute the difference between the slave's current orientation and the target orientation
+	Quaternion qAimInv;
+	QuaternionInvert( qAim, qAimInv );
+
+	QuaternionMult( qAimInv, qSlaveLocal, qAimOffset );
+
+	RadianEuler eAim(qAim);
+	RadianEuler eSlaveLocal(qSlaveLocal);
+	RadianEuler eAimOffset(qAimOffset);
+}
+
+
+//-----------------------------------------------------------------------------
+// Calculate the orientation needed to make a transform where the y 
+// vector of the transform matches the forward vector and the z vector matches
+// the up reference vector as closely as possible. The x vector will be in the 
+// plane defined by using the forward vector as the normal. 
+//-----------------------------------------------------------------------------
+void CConstraintBones::ComputeAimConstraintAimAt(
+	Quaternion &qAim,
+	const Vector &vForward,
+	const Vector &vReferenceUp )
+{ 
+	Vector vFwd = vForward;
+	vFwd.NormalizeInPlace();
+	const float flRatio = DotProduct( vFwd, vReferenceUp );
+	Vector vUp = vReferenceUp - ( vFwd * flRatio );
+	vUp.NormalizeInPlace();
+
+	Vector vRight = vFwd.Cross( vUp );
+	vRight.NormalizeInPlace();
+
+	const Vector &vX = vRight;
+	const Vector &vY = vFwd;
+	const Vector &vZ = vUp; 
+
+	const float flTr = vX.x + vY.y + vZ.z; 
+	qAim.Init( vY.z - vZ.y , vZ.x - vX.z, vX.y - vY.x, flTr + 1.0f ); 
+	const float flRadius = qAim[0] * qAim[0] + qAim[1] * qAim[1] + qAim[2] * qAim[2] + qAim[3] * qAim[3];
+	if ( flRadius > FLT_EPSILON )
+	{
+		QuaternionNormalize( qAim ); 
+	}
+	else
+	{
+		matrix3x4_t mRot;
+		MatrixSetColumn( vX, 0, mRot );
+		MatrixSetColumn( vY, 1, mRot );
+		MatrixSetColumn( vZ, 2, mRot );
+		MatrixQuaternion( mRot, qAim );
+	}
+}
+
+
+//-----------------------------------------------------------------------------
+// Given the various parameters, computes the local vForward & vReferenceUp
+// and calls ComputeAimConstraintAimAt
+//-----------------------------------------------------------------------------
+void CConstraintBones::ComputeAimConstraint(
+	Quaternion &qAim,
+	const Vector &vTargetWorldPos,
+	const matrix3x4_t &mParentToWorld,
+	const Vector &vUp,
+	const Vector &vSlaveLocalPos,
+	const matrix3x4_t *pmUpToWorld,
+	AimConstraintUpType_t eUpType )
+{
+	matrix3x4_t mWorldToParent;
+	MatrixInvert( mParentToWorld, mWorldToParent );
+
+	// If the up vector is in world space, convert it into local space
+	Vector vWorldUp;
+
+	ComputeWorldUpVector( &vWorldUp, mParentToWorld, vUp, vSlaveLocalPos, pmUpToWorld, eUpType );
+
+	Vector vLocalUp;
+	VectorRotate( vWorldUp, mWorldToParent, vLocalUp );
+
+	// Convert the target's world space position into the local space of the slave.
+	Vector vTargetLocalPos;
+	VectorTransform( vTargetWorldPos, mWorldToParent, vTargetLocalPos );
+
+	// Compute the local space forward vector
+	Vector vLocalForward = vTargetLocalPos - vSlaveLocalPos;
+	vLocalForward.NormalizeInPlace();
+
+	// Compute the orientation 
+	CConstraintBones::ComputeAimConstraintAimAt( qAim, vLocalForward, vLocalUp );	
+	RadianEuler e(qAim);
+}
+
+
+//-----------------------------------------------------------------------------
+//
+//-----------------------------------------------------------------------------
+void CConstraintBones::ComputeWorldUpVector(
+	Vector *pvWorldUp,
+	const matrix3x4_t & mParentToWorld,
+	const Vector &vUp,
+	const Vector &vSlaveLocalPos,
+	const matrix3x4_t *pmUpToWorld,
+	AimConstraintUpType_t eUpType )
+{
+	switch ( eUpType )
+	{
+	case AC_UP_TYPE_VECTOR:
+		VectorCopy( vUp, *pvWorldUp );
+		break;
+	case AC_UP_TYPE_OBJECT:
+		if ( pmUpToWorld )
+		{
+			Vector vUpObjectWorldPos;
+			MatrixPosition( *pmUpToWorld, vUpObjectWorldPos );
+			Vector vSlaveWorldPos;
+			VectorTransform( vSlaveLocalPos, mParentToWorld, vSlaveWorldPos );
+			VectorSubtract( vUpObjectWorldPos, vSlaveWorldPos, *pvWorldUp );
+			VectorNormalize( *pvWorldUp );
+		}
+		else
+		{
+			VectorCopy( vUp, *pvWorldUp );
+		}
+		break;
+	case AC_UP_TYPE_PARENT_ROTATION:
+		VectorRotate( vUp, mParentToWorld, *pvWorldUp );
+		break;
+	default:
+	case AC_UP_TYPE_OBJECT_ROTATION:
+		if ( pmUpToWorld )
+		{
+			VectorRotate( vUp, *pmUpToWorld, *pvWorldUp );
+		}
+		else
+		{
+			VectorCopy( vUp, *pvWorldUp );
+		}
+		break;
+	}
+}
+
+
+//=============================================================================
+//=============================================================================
+//
+// CStudioConstraintBones
+//
+//=============================================================================
+//=============================================================================
+
+
+//-----------------------------------------------------------------------------
+//
+//-----------------------------------------------------------------------------
+float CStudioConstraintBones::ComputeTargetPosition(
+	Vector &vTargetPosition,
+	mstudioconstrainttarget_t *pTargets,
+	int	nTargetCount,
+	CBoneAccessor &boneToWorld )
+{
+	float *pflTargetWeights = reinterpret_cast< float * >( stackalloc( nTargetCount * sizeof( float ) ) );
+	Vector *pvTargetPositions = reinterpret_cast< Vector * >( stackalloc( nTargetCount * sizeof( Vector ) ) );
+	Vector *pvTargetOffsets = reinterpret_cast< Vector * >( stackalloc( nTargetCount * sizeof( Vector ) ) );
+
+	mstudioconstrainttarget_t *pTarget;
+
+	for ( int i = 0; i < nTargetCount; ++i )
+	{
+		pTarget = pTargets + i;
+		pflTargetWeights[i] = pTarget->m_flWeight;
+		pvTargetOffsets[i] = pTarget->m_vOffset;
+		MatrixPosition( boneToWorld.GetBone( pTarget->m_nBone ), pvTargetPositions[i] );
+	}
+
+	return CConstraintBones::ComputeTargetPosition( vTargetPosition, nTargetCount, pflTargetWeights, pvTargetPositions, pvTargetOffsets );
+}
+
+
+//=============================================================================
+// CStudioConstraintBones : Studio Interface Functions
+//=============================================================================
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//-----------------------------------------------------------------------------
+float CStudioConstraintBones::ComputeTargetOrientation(
+	Quaternion &qTargetOrientation,
+	mstudioconstrainttarget_t *pTargets,
+	int	nTargetCount,
+	CBoneAccessor &boneToWorld )
+{
+	float *pflTargetWeights = reinterpret_cast< float * >( stackalloc( nTargetCount * sizeof( float ) ) );
+	Quaternion *pqTargetOrientations = reinterpret_cast< Quaternion * >( stackalloc( nTargetCount * sizeof( Quaternion ) ) );
+	Quaternion *pqTargetOffsets = reinterpret_cast< Quaternion * >( stackalloc( nTargetCount * sizeof( Quaternion ) ) );
+
+	mstudioconstrainttarget_t *pTarget;
+
+	for ( int i = 0; i < nTargetCount; ++i )
+	{
+		pTarget = pTargets + i;
+		pflTargetWeights[i] = pTarget->m_flWeight;
+		pqTargetOffsets[i] = pTarget->m_qOffset;
+		MatrixQuaternion( boneToWorld.GetBone( pTarget->m_nBone ), pqTargetOrientations[i] );
+	}
+
+	return CConstraintBones::ComputeTargetOrientation( qTargetOrientation, nTargetCount, pflTargetWeights, pqTargetOrientations, pqTargetOffsets );
+}
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//-----------------------------------------------------------------------------
+float CStudioConstraintBones::ComputeTargetPositionOrientation(
+	Vector &vTargetPosition,
+	Quaternion &qTargetOrientation,
+	mstudioconstrainttarget_t *pTargets,
+	int	nTargetCount,
+	CBoneAccessor &boneToWorld )
+{
+	float *pflTargetWeights = reinterpret_cast< float * >( stackalloc( nTargetCount * sizeof( float ) ) );
+	matrix3x4a_t *pmTargets = reinterpret_cast< matrix3x4a_t * >( stackalloc( nTargetCount * sizeof( matrix3x4a_t ) ) );
+	matrix3x4a_t *pmOffsets = reinterpret_cast< matrix3x4a_t * >( stackalloc( nTargetCount * sizeof( matrix3x4a_t ) ) );
+
+	mstudioconstrainttarget_t *pTarget = pTargets;
+
+	for ( int i = 0; i < nTargetCount; ++i, ++pTarget )
+	{
+		pflTargetWeights[i] = pTarget->m_flWeight;
+		QuaternionMatrix( pTarget->m_qOffset, pTarget->m_vOffset, pmOffsets[i] );
+		pmTargets[i] = boneToWorld.GetBone( pTarget->m_nBone );
+	}
+
+	return CConstraintBones::ComputeTargetPositionOrientation( vTargetPosition, qTargetOrientation, nTargetCount, pflTargetWeights, pmTargets, pmOffsets );
+}
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//-----------------------------------------------------------------------------
+void CStudioConstraintBones::ComputeBaseWorldMatrix(
+	matrix3x4a_t &mBaseWorldMatrix,
+	mstudioconstraintslave_t *pSlave,
+	CBoneAccessor &boneToWorld,
+	const CStudioHdr *pStudioHdr,
+	const matrix3x4_t *pmViewTransform /* = NULL */ )
+{
+	// studiomdl shouldn't create mstudioconstraintslave_t's with invalid bone indices
+	Assert( pSlave->m_nBone >= 0 && pSlave->m_nBone < MAXSTUDIOBONES );
+
+	const int nBoneParent = pStudioHdr->boneParent( pSlave->m_nBone );
+	if ( nBoneParent < 0 )
+	{
+		if ( pmViewTransform )
+		{
+			matrix3x4a_t mTmp;
+			QuaternionMatrix( pSlave->m_qBaseOrientation, pSlave->m_vBasePosition, mTmp );
+			ConcatTransforms( *pmViewTransform, mTmp, mBaseWorldMatrix );
+		}
+		else
+		{
+			QuaternionMatrix( pSlave->m_qBaseOrientation, pSlave->m_vBasePosition, mBaseWorldMatrix );
+		}
+	}
+	else
+	{
+		matrix3x4a_t mTmp;
+		QuaternionMatrix( pSlave->m_qBaseOrientation, pSlave->m_vBasePosition, mTmp );
+		ConcatTransforms( boneToWorld.GetBone( nBoneParent ), mTmp, mBaseWorldMatrix );
+	}
+}
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//-----------------------------------------------------------------------------
+void CStudioConstraintBones::ComputePointConstraint(
+	const mstudiobone_t *pBones,
+	int	nBone,
+	CBoneAccessor &boneToWorld,
+	const CStudioHdr *pStudioHdr )
+{
+	BONE_PROFILE_FUNC();
+
+	mstudiopointconstraint_t *pProc = ( mstudiopointconstraint_t * )pBones[nBone].pProcedure();
+
+	// Calculate the current target position and the total weight 
+	// of the the targets contributing to the target position.
+	Vector vTargetPosition;
+	const float flWeight = CStudioConstraintBones::ComputeTargetPosition( vTargetPosition, pProc->pTarget( 0 ), pProc->m_nTargetCount, boneToWorld );
+
+	Vector vFinalPosition;
+
+	matrix3x4a_t &mBaseWorldMatrix = boneToWorld.GetBoneForWrite( nBone );
+	CStudioConstraintBones::ComputeBaseWorldMatrix( mBaseWorldMatrix, &( pProc->m_slave ), boneToWorld, pStudioHdr );
+
+	// Blend between the target position and the base position using the target weight
+	if ( flWeight < 1.0f )
+	{
+		Vector vBasePosition;
+		MatrixPosition( mBaseWorldMatrix, vBasePosition );
+
+		vFinalPosition = Lerp( flWeight, vBasePosition, vTargetPosition );
+	}
+	else
+	{
+		vFinalPosition = vTargetPosition;
+	}
+
+	// Update the bone the new position.
+	PositionMatrix( vFinalPosition, mBaseWorldMatrix );
+}
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//-----------------------------------------------------------------------------
+void CStudioConstraintBones::ComputeOrientConstraint(
+	const mstudiobone_t *pBones,
+	int	nBone,
+	CBoneAccessor &boneToWorld,
+	const CStudioHdr *pStudioHdr,
+	const matrix3x4_t *pmViewTransform )
+{
+	BONE_PROFILE_FUNC();
+
+	mstudioorientconstraint_t *pProc = ( mstudioorientconstraint_t * )pBones[nBone].pProcedure();
+
+	// Calculate the current target position and the total weight 
+	// of the the targets contributing to the target position.
+	Quaternion qTargetOrientation;
+	const float flWeight = CStudioConstraintBones::ComputeTargetOrientation( qTargetOrientation, pProc->pTarget( 0 ), pProc->m_nTargetCount, boneToWorld );
+
+	// Blend between the target orientation and the base orientation using the target weight
+	Quaternion qFinalOrientation;
+
+	matrix3x4a_t &mBaseWorldMatrix = boneToWorld.GetBoneForWrite( nBone );
+	CStudioConstraintBones::ComputeBaseWorldMatrix( mBaseWorldMatrix, &( pProc->m_slave ), boneToWorld, pStudioHdr, pmViewTransform );
+
+	if ( flWeight < 1.0f )
+	{
+		Quaternion qBaseOrientation;
+		MatrixQuaternion( mBaseWorldMatrix, qBaseOrientation );
+
+		QuaternionSlerp( qBaseOrientation, qTargetOrientation, flWeight, qFinalOrientation );
+	}
+	else
+	{
+		qFinalOrientation = qTargetOrientation;
+	}
+
+	// Quaternion matrix wipes out the translate component
+	Vector vTmpPosition;
+	MatrixPosition( mBaseWorldMatrix, vTmpPosition );
+	QuaternionMatrix( qFinalOrientation, vTmpPosition, mBaseWorldMatrix );
+}
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//
+// pmViewTransform is for hlmv which modifies the actual parentless bones
+// to position things in the viewer
+//
+// TODO: Split into hlmv and "normal" versions, i.e. hlmv needs ViewTransform
+//-----------------------------------------------------------------------------
+void CStudioConstraintBones::ComputeAimConstraint(
+	const mstudiobone_t *pBones,
+	int	nBone,
+	CBoneAccessor &boneToWorld,
+	const CStudioHdr *pStudioHdr,
+	const matrix3x4_t *pmViewTransform,
+	AimConstraintUpType_t eType )
+{
+	BONE_PROFILE_FUNC();
+
+	mstudioaimconstraint_t *pProc = ( mstudioaimconstraint_t * )pBones[nBone].pProcedure();
+
+	// Calculate the current target position and the total weight 
+	// of the the targets contributing to the target position.
+	Vector vTargetPos;
+	const float flWeight = CStudioConstraintBones::ComputeTargetPosition( vTargetPos, pProc->pTarget( 0 ), pProc->m_nTargetCount, boneToWorld );
+	Vector vTargetWorldPos;
+
+	matrix3x4a_t mSlaveParentToWorld;
+	const int nParentBone = pBones[nBone].parent;
+
+	if ( pmViewTransform )
+	{
+		matrix3x4_t mInv;
+		MatrixInvert( *pmViewTransform, mInv );
+
+		VectorTransform( vTargetPos, mInv, vTargetWorldPos );
+
+		if ( nParentBone >= 0 )
+		{
+			ConcatTransforms( mInv, boneToWorld[nParentBone], mSlaveParentToWorld );
+		}
+		else
+		{
+			SetIdentityMatrix( mSlaveParentToWorld );
+		}
+	}
+	else
+	{
+		VectorCopy( vTargetPos, vTargetWorldPos );
+
+		if ( nParentBone >= 0 )
+		{
+			MatrixCopy( boneToWorld[nParentBone], mSlaveParentToWorld );
+		}
+		else
+		{
+			SetIdentityMatrix( mSlaveParentToWorld );
+		}
+	}
+
+	Quaternion qTargetOrientation;
+	CConstraintBones::ComputeAimConstraint(
+		qTargetOrientation,
+		vTargetWorldPos,
+		mSlaveParentToWorld,
+		pProc->m_vUp,
+		pProc->m_slave.m_vBasePosition,
+		pProc->m_nUpSpaceTarget >= 0 ? &boneToWorld[ pProc->m_nUpSpaceTarget ] : NULL,
+		eType );
+
+	// Add in initial offset
+	Quaternion qOffsetOrientation;
+	QuaternionMult( qTargetOrientation, pProc->m_qAimOffset, qOffsetOrientation );
+
+	// Add in parent matrix
+	Quaternion qParentToWorld;
+	MatrixQuaternion( mSlaveParentToWorld, qParentToWorld );
+	Quaternion qTmp;
+	QuaternionMult( qParentToWorld, qOffsetOrientation, qTmp );
+	qOffsetOrientation = qTmp;
+
+	// Blend between the target orientation and the base orientation using the target weight
+	Quaternion qFinalOrientation;
+
+	matrix3x4a_t &mBaseWorldMatrix = boneToWorld.GetBoneForWrite( nBone );
+	CStudioConstraintBones::ComputeBaseWorldMatrix( mBaseWorldMatrix, &( pProc->m_slave ), boneToWorld, pStudioHdr, pmViewTransform );
+
+	if ( flWeight < 1.0f )
+	{
+		Quaternion qBaseOrientation;
+		MatrixQuaternion( mBaseWorldMatrix, qBaseOrientation );
+
+		QuaternionSlerp( qBaseOrientation, qOffsetOrientation, flWeight, qFinalOrientation );
+	}
+	else
+	{
+		qFinalOrientation = qOffsetOrientation;
+	}
+
+	if ( pmViewTransform )
+	{
+		Quaternion qTmp0;
+		Quaternion qTmp1;
+		MatrixQuaternion( *pmViewTransform, qTmp0 );
+		QuaternionMult( qTmp0, qFinalOrientation, qTmp1 );
+		qFinalOrientation = qTmp1;
+	}
+
+	// Quaternion matrix wipes out the translate component
+	Vector vTmpPosition;
+	MatrixPosition( mBaseWorldMatrix, vTmpPosition );
+	QuaternionMatrix( qFinalOrientation, vTmpPosition, mBaseWorldMatrix );
+}
+
+
+//-----------------------------------------------------------------------------
+// studio interface
+//-----------------------------------------------------------------------------
+void CStudioConstraintBones::ComputeParentConstraint(
+	const mstudiobone_t *pBones,
+	int	nBone,
+	CBoneAccessor &boneToWorld,
+	const CStudioHdr *pStudioHdr )
+{
+	BONE_PROFILE_FUNC();
+
+	mstudioorientconstraint_t *pProc = ( mstudioorientconstraint_t * )pBones[nBone].pProcedure();
+
+	// Calculate the current target position and the total weight 
+	// of the the targets contributing to the target position.
+	Vector vTargetPosition;
+	Quaternion qTargetOrientation;
+	const float flWeight = CStudioConstraintBones::ComputeTargetPositionOrientation( vTargetPosition, qTargetOrientation, pProc->pTarget( 0 ), pProc->m_nTargetCount, boneToWorld );
+
+	// Blend between the target orientation and the base orientation using the target weight
+	Quaternion qFinalOrientation;
+	Vector vFinalPosition;
+
+	matrix3x4a_t &mBaseWorldMatrix = boneToWorld.GetBoneForWrite( nBone );
+	CStudioConstraintBones::ComputeBaseWorldMatrix( mBaseWorldMatrix, &( pProc->m_slave ), boneToWorld, pStudioHdr );
+
+	if ( flWeight < 1.0f )
+	{
+		Vector vBasePosition;
+		Quaternion qBaseOrientation;
+		MatrixAngles( mBaseWorldMatrix, qBaseOrientation, vBasePosition );
+
+		QuaternionSlerp( qBaseOrientation, qTargetOrientation, flWeight, qFinalOrientation );
+		VectorLerp( vBasePosition, vTargetPosition, flWeight, vFinalPosition );
+	}
+	else
+	{
+		qFinalOrientation = qTargetOrientation;
+		vFinalPosition = vTargetPosition;
+	}
+
+	QuaternionMatrix( qFinalOrientation, vFinalPosition, mBaseWorldMatrix );
+}
+
+
+//-----------------------------------------------------------------------------
+//
+// Twist bones are bones which take a portion of the rotation around a specified
+// axis.
+//
+// The axis is defined as the vector between a parent and child bone
+// The twist bones must also be children of the parent
+//
+// + parent
+// | 
+// +--+ twist 0.25
+// |
+// +--+ twist 0.5
+// |
+// +--+ twist 0.75
+// |
+// +--+ child
+//
+// If inverse is false each twist takes a portion of the child rotation around
+// the specified axis
+//
+// If inverse is true each twist takes a portion of the parent rotation around
+// the specified axis from a specified reference orientation
+//
+// All specified matrices & Quaternions are local to the bone, they are not
+// worldToBone transformations
+//
+// pqTwists, pflWeights, pqTwistBinds are all pointers to arrays which must be
+// at least nCount in size
+// 
+// This code is called directly from:
+//   maya, datamodel & CalcProceduralBone/DoTwistBones
+//-----------------------------------------------------------------------------
+void ComputeTwistBones(
+	Quaternion *pqTwists,
+	int nCount,
+	bool bInverse,
+	const Vector &vUp,
+	const Quaternion &qParent,
+	const matrix3x4_t &mChild,
+	const Quaternion &qBaseInv,
+	const float *pflWeights,
+	const Quaternion *pqTwistBinds )
+{
+	const float flEps = FLT_EPSILON * 10.0f;
+	const float flEpsSq = flEps * flEps;
+
+	Vector vUpRotate;
+	Vector vLocalTranslation;
+	Vector vRotatedTranslation;
+	Quaternion qTmp0;
+	Quaternion qTmp1;
+
+	{
+		Quaternion qChild;
+		MatrixAngles( mChild, qChild, vLocalTranslation );
+
+		// Check for 0 length translation - perhaps use Vector::IsZero?
+		if ( vLocalTranslation.LengthSqr() < flEpsSq )
+		{
+			// No translation, can't compute rotation axis, do nothing
+			V_memcpy( pqTwists, pqTwistBinds, nCount * sizeof( Quaternion ) );
+			return;
+		}
+
+		VectorNormalize( vLocalTranslation );
+
+		if ( bInverse )
+		{
+			QuaternionMult( qBaseInv, qParent, qTmp0 );
+			VectorRotate( vUp, qTmp0, vUpRotate );
+			VectorRotate( vLocalTranslation, qTmp0, vRotatedTranslation );
+		}
+		else
+		{
+			QuaternionMult( qBaseInv, qChild, qTmp0 );
+			VectorRotate( vUp, qTmp0, vUpRotate );
+			VectorRotate( vLocalTranslation, qBaseInv, vRotatedTranslation );
+		}
+	}
+
+	// If the specified up axis and the rotated translation vector are parallel then quit
+	if ( 1.0f - FloatMakePositive( DotProduct( vRotatedTranslation, vUp ) ) < flEps )
+	{
+		V_memcpy( pqTwists, pqTwistBinds, nCount * sizeof( Quaternion ) );
+		return;
+	}
+
+	// If the rotated up axis and the rotated translation vector are parallel then quit
+	if ( 1.0f - FloatMakePositive( DotProduct( vRotatedTranslation, vUpRotate ) ) < flEps )
+	{
+		V_memcpy( pqTwists, pqTwistBinds, nCount * sizeof( Quaternion ) );
+		return;
+	}
+
+	// Project Up (V) & Rotated Up (V) into the plane defined by the
+	// rotated up vector (N)
+	//
+	// U = V - ( V dot N ) N;
+	//
+	// U is V projected into plane with normal N
+
+	Vector vTmp0;
+	
+	vTmp0 = vRotatedTranslation;
+	Vector vUpProject;
+	vTmp0 *= DotProduct( vUp, vRotatedTranslation );
+	VectorSubtract( vUp, vTmp0, vUpProject );
+	VectorNormalize( vUpProject );
+
+	vTmp0 = vRotatedTranslation;
+	Vector vUpRotateProject;
+	vTmp0 *= DotProduct( vUpRotate, vRotatedTranslation );
+	VectorSubtract( vUpRotate, vTmp0, vUpRotateProject );
+	VectorNormalize( vUpRotateProject );
+
+	if ( VectorsAreEqual( vUpProject, vUpRotateProject, 0.001 ) )
+	{
+		V_memcpy( pqTwists, pqTwistBinds, nCount * sizeof( Quaternion ) );
+	}
+	else
+	{
+		CrossProduct( vUpProject, vUpRotateProject, vTmp0 );
+		VectorNormalize( vTmp0 );
+		const float flDot = DotProduct( vUpProject, vUpRotateProject );
+		const float flAngle = DotProduct( vTmp0, vRotatedTranslation ) < 0.0f ? -acos( flDot ) : acos( flDot );
+
+		AxisAngleQuaternion( vLocalTranslation, RAD2DEG( flAngle ), qTmp0 );
+
+		if ( bInverse )
+		{
+			for ( int i = 0; i < nCount; ++i )
+			{
+				QuaternionScale( qTmp0, pflWeights[i] - 1.0f, qTmp1 );
+				QuaternionMult( qTmp1, pqTwistBinds[i], pqTwists[i] );
+			}
+		}
+		else
+		{
+			for ( int i = 0; i < nCount; ++i )
+			{
+				QuaternionScale( qTmp0, pflWeights[i], qTmp1 );
+				QuaternionMult( qTmp1, pqTwistBinds[i], pqTwists[i] );
+			}
+		}
+	}
+}

bonesetup/bone_utils.h

@@ -0,0 +1,91 @@
+
+
+DLL_IMPORT CLinkedMiniProfiler *g_pPhysicsMiniProfilers;
+#if 0
+#define BONE_PROFILE(ID)   static CLinkedMiniProfiler s_miniprofiler_##ID(#ID, &g_pPhysicsMiniProfilers);		\
+	CMiniProfilerGuard mpguard_##ID(&s_miniprofiler_##ID);
+#define BONE_PROFILE_LOOP(ID,COUNT)   static CLinkedMiniProfiler s_miniprofiler_##ID(#ID, &g_pPhysicsMiniProfilers);		\
+	CMiniProfilerGuard mpguard_##ID(&s_miniprofiler_##ID,(COUNT));
+#define BONE_PROFILE_FUNC()   static CLinkedMiniProfiler s_miniprofiler_FUNC(__FUNCTION__, &g_pPhysicsMiniProfilers);		\
+	CMiniProfilerGuard mpguard_##ID(&s_miniprofiler_FUNC);
+#else
+#define BONE_PROFILE(ID)   
+#define BONE_PROFILE_LOOP(ID,COUNT)
+#define BONE_PROFILE_FUNC()  
+#endif
+
+
+
+template <typename T>
+class CBoneSetupMemoryPool
+{
+public:
+	T *Alloc()
+	{
+		T *p = (T *)m_FreeBlocks.Pop();
+		if ( !p )
+		{
+			p = (T *)MemAlloc_AllocAligned( sizeof( T ) * MAXSTUDIOBONES, 16 );
+			if ( ((size_t)p) % MAX(TSLIST_NODE_ALIGNMENT,16) != 0 )
+				DebuggerBreak();
+		}
+
+		return p;
+	}
+
+	void Free( T *p )
+	{
+		m_FreeBlocks.Push( (TSLNodeBase_t *)p );
+	}
+
+private:
+	CTSListBase m_FreeBlocks;
+};
+
+extern CBoneSetupMemoryPool<BoneQuaternionAligned> g_QuaternionPool;
+extern CBoneSetupMemoryPool<BoneVector> g_VectorPool;
+extern CBoneSetupMemoryPool<matrix3x4a_t> g_MatrixPool;
+
+
+
+void CalcDecompressedAnimation( const mstudiocompressedikerror_t *pCompressed, int iFrame, float fraq, BoneVector &pos, BoneQuaternion &q );
+void QuaternionAccumulate( const Quaternion &p, float s, const Quaternion &q, Quaternion &qt );
+void CalcAnimation( const CStudioHdr *pStudioHdr, BoneVector *pos, BoneQuaternion *q, mstudioseqdesc_t &seqdesc, int sequence, int animation, float cycle, int boneMask );
+void BlendBones( const CStudioHdr *pStudioHdr, BoneQuaternionAligned q1[MAXSTUDIOBONES], BoneVector pos1[MAXSTUDIOBONES], mstudioseqdesc_t &seqdesc, int sequence, const BoneQuaternionAligned q2[MAXSTUDIOBONES], const BoneVector pos2[MAXSTUDIOBONES], float s, int boneMask );
+void ScaleBones( const CStudioHdr *pStudioHdr, BoneQuaternion q1[MAXSTUDIOBONES], BoneVector pos1[MAXSTUDIOBONES], int sequence, float s, int boneMask );
+
+void CalcPose( const CStudioHdr *pStudioHdr, CIKContext *pIKContext, BoneVector pos[], BoneQuaternionAligned q[], int sequence, float cycle, const float poseParameter[], int boneMask, float flWeight = 1.0f, float flTime = 0.0f );
+bool CalcPoseSingle( const CStudioHdr *pStudioHdr, BoneVector pos[], BoneQuaternionAligned q[], mstudioseqdesc_t &seqdesc, int sequence, float cycle, const float poseParameter[], int boneMask, float flTime );
+
+void CalcBoneAdj( const CStudioHdr *pStudioHdr, BoneVector pos[], BoneQuaternion q[], const float controllers[], int boneMask );
+
+void BuildBoneChainPartial(
+	const CStudioHdr *pStudioHdr,
+	const matrix3x4_t &rootxform,
+	const BoneVector pos[], 
+	const BoneQuaternion q[], 
+	int	iBone,
+	matrix3x4_t *pBoneToWorld,
+	CBoneBitList &boneComputed,
+	int iRoot );
+
+
+class CBoneSetup
+{
+public:
+	CBoneSetup( const CStudioHdr *pStudioHdr, int boneMask, const float poseParameter[], IPoseDebugger *pPoseDebugger = NULL );
+	void InitPose( BoneVector pos[], BoneQuaternionAligned q[] );
+	void AccumulatePose( BoneVector pos[], BoneQuaternion q[], int sequence, float cycle, float flWeight, float flTime, CIKContext *pIKContext );
+	void CalcAutoplaySequences(	BoneVector pos[], BoneQuaternion q[], float flRealTime, CIKContext *pIKContext );
+private:
+	void AddSequenceLayers( BoneVector pos[], BoneQuaternion q[], mstudioseqdesc_t &seqdesc, int sequence, float cycle, float flWeight, float flTime, CIKContext *pIKContext );
+	void AddLocalLayers( BoneVector pos[], BoneQuaternion q[], mstudioseqdesc_t &seqdesc, int sequence, float cycle, float flWeight, float flTime, CIKContext *pIKContext );
+public:
+	const CStudioHdr *m_pStudioHdr;
+	int m_boneMask;
+	const float *m_flPoseParameter;
+	IPoseDebugger *m_pPoseDebugger;
+};
+
+
+

bonesetup/bone_utils_PS3.h

@@ -0,0 +1,359 @@
+//========= Copyright © 1996-2005, Valve Corporation, All rights reserved. ============//
+//
+// Purpose: 
+//
+// $NoKeywords: $
+//=============================================================================//
+
+#ifndef BONE_UTILS_PS3_H
+#define BONE_UTILS_PS3_H
+
+#ifndef _PS3
+#error "This header is for PS3 target only"
+#endif
+
+#include "vjobs_interface.h"
+
+#if defined(__SPU__)
+#include "ps3/spu_job_shared.h"
+#include "cell/dma.h"
+#endif
+
+#if 1
+#define DotProduct_PS3				DotProduct
+#define MatrixAngles_PS3			MatrixAngles
+#define VectorRotate_PS3			VectorRotate
+#define VectorSubtract_PS3			VectorSubtract
+#define MatrixPosition_PS3			MatrixPosition
+#define _VMX_VectorNormalize_PS3	_VMX_VectorNormalize
+#define VectorNormalize_PS3			VectorNormalize
+#define VectorMultiply_PS3			VectorMultiply
+#define VectorScale_PS3				VectorScale
+#define VectorMAInline_PS3			VectorMAInline
+#define VectorMA_PS3				VectorMA
+#define SimpleSpline_PS3			SimpleSpline
+#define ConcatTransforms_PS3		ConcatTransforms
+#define ConcatTransforms_Aligned_PS3	ConcatTransforms_Aligned
+//#define QuaternionMatrix_PS3			QuaternionMatrix
+//#define QuaternionAlign_PS3			QuaternionAlign
+//#define QuaternionSlerp_PS3			QuaternionSlerp
+//#define QuaternionSlerpNoAlign_PS3	QuaternionSlerpNoAlign
+//#define QuaternionNormalize_PS3		QuaternionNormalize
+//#define QuaternionBlend_PS3			QuaternionBlend
+//#define QuaternionBlendNoAlign_PS3	QuaternionBlendNoAlign
+//#define QuaternionIdentityBlend_PS3	QuaternionIdentityBlend
+//#define QuaternionScale_PS3			QuaternionScale
+//#define QuaternionAdd_PS3			QuaternionAdd
+//#define QuaternionDotProduct_PS3	QuaternionDotProduct
+//#define QuaternionMult_PS3			QuaternionMult
+#define MatrixSetColumn_PS3			MatrixSetColumn
+#define MatrixGetColumn_PS3			MatrixGetColumn
+#define MatrixInvert_PS3			MatrixInvert
+#define VectorRotate_PS3			VectorRotate
+#define AngleMatrix_PS3				AngleMatrix
+#define AngleQuaternion_PS3			AngleQuaternion
+#define Hermite_Spline_PS3			Hermite_Spline
+#define Hermite_SplineBasis_PS3		Hermite_SplineBasis
+#define SetIdentityMatrix_PS3		SetIdentityMatrix
+
+FORCEINLINE Vector Lerp_PS3( float flPercent, Vector const &A, Vector const &B )
+{
+	return A + (B - A) * flPercent;
+}
+#endif
+
+
+// from mathlib.h, mathlib_base.cpp
+#if 0
+FORCEINLINE float DotProduct_PS3(const Vector& a, const Vector& b) 
+{ 
+	//	return( a.x*b.x + a.y*b.y + a.z*b.z ); 
+	return a.Dot(b);
+}
+FORCEINLINE float DotProduct_PS3(const float* a, const float* b) 
+{ 
+	return( a[0]*b[0] + a[1]*b[1] + a[2]*b[2] ); 
+}
+void ConcatTransforms_PS3( const matrix3x4a_t &m0, const matrix3x4a_t &m1, matrix3x4a_t &out );
+void ConcatTransforms_Aligned_PS3( const matrix3x4a_t &m0, const matrix3x4a_t &m1, matrix3x4a_t &out );
+void MatrixAngles_PS3( const matrix3x4_t & matrix, float *angles ); // !!!!
+void MatrixAngles_PS3( const matrix3x4_t& matrix, RadianEuler &angles, Vector &position );
+void MatrixAngles_PS3( const matrix3x4_t &matrix, Quaternion &q, Vector &pos );
+inline void MatrixAngles_PS3( const matrix3x4_t &matrix, RadianEuler &angles )
+{
+	MatrixAngles_PS3( matrix, &angles.x );
+
+	angles.Init( DEG2RAD( angles.z ), DEG2RAD( angles.x ), DEG2RAD( angles.y ) );
+}
+void MatrixGetColumn_PS3( const matrix3x4_t& in, int column, Vector &out );
+void MatrixSetColumn_PS3( const Vector &in, int column, matrix3x4_t& out );
+void MatrixInvert_PS3( const matrix3x4_t& in, matrix3x4_t& out );
+void VectorRotate_PS3( const float *in1, const matrix3x4_t & in2, float *out);
+inline void VectorRotate_PS3( const Vector& in1, const matrix3x4_t &in2, Vector &out)
+{
+	VectorRotate_PS3( &in1.x, in2, &out.x );
+}
+FORCEINLINE void VectorSubtract_PS3( const Vector& a, const Vector& b, Vector& c )
+{
+	c.x = a.x - b.x;
+	c.y = a.y - b.y;
+	c.z = a.z - b.z;
+}
+inline void MatrixPosition_PS3( const matrix3x4_t &matrix, Vector &position )
+{
+	position[0] = matrix[0][3];
+	position[1] = matrix[1][3];
+	position[2] = matrix[2][3];
+}
+FORCEINLINE float _VMX_VectorNormalize_PS3( Vector &vec )
+{
+	vec_float4 vIn;
+	vec_float4 v0, v1;
+	vector unsigned char permMask;
+	v0	 = vec_ld( 0, vec.Base() );			
+	permMask = vec_lvsl( 0, vec.Base() );	
+	v1	 = vec_ld( 11, vec.Base() );			
+	vIn  = vec_perm(v0, v1, permMask);
+	float mag = vmathV3Length((VmathVector3 *)&vIn);
+	float den = 1.f / (mag + FLT_EPSILON );
+	vec.x *= den;
+	vec.y *= den;
+	vec.z *= den;
+	return mag;
+}
+FORCEINLINE float VectorNormalize_PS3( Vector& v )
+{
+	return _VMX_VectorNormalize_PS3( v );
+}
+
+
+FORCEINLINE void VectorMultiply_PS3( const Vector& a, float b, Vector& c )
+{
+	c.x = a.x * b;
+	c.y = a.y * b;
+	c.z = a.z * b;
+}
+
+FORCEINLINE void VectorMultiply_PS3( const Vector& a, const Vector& b, Vector& c )
+{
+	c.x = a.x * b.x;
+	c.y = a.y * b.y;
+	c.z = a.z * b.z;
+}
+
+inline void VectorScale_PS3 ( const Vector& in, float scale, Vector& result )
+{
+	VectorMultiply_PS3( in, scale, result );
+}
+FORCEINLINE Vector Lerp_PS3( float flPercent, Vector const &A, Vector const &B )
+{
+	return A + (B - A) * flPercent;
+}
+FORCEINLINE void VectorMAInline_PS3( const float* start, float scale, const float* direction, float* dest )
+{
+	dest[0]=start[0]+direction[0]*scale;
+	dest[1]=start[1]+direction[1]*scale;
+	dest[2]=start[2]+direction[2]*scale;
+}
+FORCEINLINE void VectorMAInline_PS3( const Vector& start, float scale, const Vector& direction, Vector& dest )
+{
+	dest.x=start.x+direction.x*scale;
+	dest.y=start.y+direction.y*scale;
+	dest.z=start.z+direction.z*scale;
+}
+FORCEINLINE void VectorMA_PS3( const Vector& start, float scale, const Vector& direction, Vector& dest )
+{
+	VectorMAInline_PS3(start, scale, direction, dest);
+}
+FORCEINLINE void VectorMA_PS3( const float * start, float scale, const float *direction, float *dest )
+{
+	VectorMAInline_PS3(start, scale, direction, dest);
+}
+void AngleMatrix_PS3( RadianEuler const &angles, const Vector &position, matrix3x4_t& matrix );
+void AngleMatrix_PS3( const RadianEuler& angles, matrix3x4_t& matrix );
+void AngleMatrix_PS3( const QAngle &angles, const Vector &position, matrix3x4_t& matrix );
+void AngleMatrix_PS3( const QAngle &angles, matrix3x4_t& matrix );
+void AngleQuaternion_PS3( const RadianEuler &angles, Quaternion &outQuat );
+void Hermite_Spline_PS3( const Vector &p1, const Vector &p2, const Vector &d1, const Vector &d2, float t, Vector& output );
+float Hermite_Spline_PS3( float p1, float p2, float d1, float d2, float t );
+void Hermite_SplineBasis_PS3( float t, float basis[4] );
+void Hermite_Spline_PS3( const Vector &p0, const Vector &p1, const Vector &p2, float t, Vector& output );
+float Hermite_Spline_PS3( float p0, float p1, float p2,	float t );
+void Hermite_Spline_PS3( const Quaternion &q0, const Quaternion &q1, const Quaternion &q2, float t, Quaternion &output );
+inline float SimpleSpline_PS3( float value )
+{
+	float valueSquared = value * value;
+
+	// Nice little ease-in, ease-out spline-like curve
+	return (3.0f * valueSquared - 2.0f * valueSquared * value);
+}
+#endif
+
+
+void QuaternionMatrix_PS3( const Quaternion &q, const Vector &pos, matrix3x4a_t& matrix );
+void QuaternionAlign_PS3( const Quaternion &p, const Quaternion &q, QuaternionAligned &qt );
+void QuaternionSlerp_PS3( const Quaternion &p, const Quaternion &q, float t, Quaternion &qt );
+void QuaternionSlerpNoAlign_PS3( const Quaternion &p, const Quaternion &q, float t, Quaternion &qt );
+float QuaternionNormalize_PS3( Quaternion &q );
+void QuaternionBlend_PS3( const Quaternion &p, const Quaternion &q, float t, Quaternion &qt );
+void QuaternionBlendNoAlign_PS3( const Quaternion &p, const Quaternion &q, float t, Quaternion &qt );
+void QuaternionIdentityBlend_PS3( const Quaternion &p, float t, Quaternion &qt );
+void QuaternionScale_PS3( const Quaternion &p, float t, Quaternion &q );
+void QuaternionAdd_PS3( const Quaternion &p, const Quaternion &q, Quaternion &qt );
+float QuaternionDotProduct_PS3( const Quaternion &p, const Quaternion &q );
+void QuaternionMult_PS3( const Quaternion &p, const Quaternion &q, Quaternion &qt );
+
+
+
+void AddDependencies_SPU( bonejob_SPU *pBonejobSPU, accumposeentry_SPU *pPoseEntry, float flWeight = 1.0f );
+//void AddDependencies_PPU( CStudioHdr *pHdr, float m_flTime, int m_boneMask, mstudioseqdesc_t &seqdesc, int iSequence, float flCycle, const float poseParameters[], float flWeight );
+
+void GetBoneMapBoneWeight_SPU( bonejob_SPU *pSPUJob, accumposeentry_SPU *pPoseEntry, int *&pLS_boneMap, float *&pLS_boneWeight );
+
+void CalcDecompressedAnimation_PS3( void *pEA_Compressed, const mstudiocompressedikerror_t_PS3 *pLS_Compressed, int iFrame, float fraq, BoneVector &pos, BoneQuaternion &q );
+void QuaternionAccumulate_PS3( const Quaternion &p, float s, const Quaternion &q, Quaternion &qt );
+void CalcAnimation_PS3( const bonejob_SPU *pBonejob, const accumposeentry_SPU *pPoseEntry, BoneVector *pos, BoneQuaternion *q, const int *boneMap, const float *boneWeight, int animIndex, float cycle, int boneMask );
+void BlendBones_PS3( const bonejob_SPU *pBonejob, const accumposeentry_SPU *pPoseEntry, BoneQuaternion *q1, BoneVector *pos1, const int *boneMap, const float *boneWeight, const BoneQuaternion *q2, const BoneVector *pos2, float s, int boneMask );
+void ScaleBones_PS3( const bonejob_SPU *pBonejob, const accumposeentry_SPU *pPoseEntry, BoneQuaternion *q1, BoneVector *pos1, const int *boneMap, const	float *boneWeight, float s, int boneMask );
+
+// void CalcPose( const CStudioHdr *pStudioHdr, CIKContext *pIKContext, Vector pos[], BoneQuaternion q[], int sequence, float cycle, const float poseParameter[], int boneMask, float flWeight = 1.0f, float flTime = 0.0f );
+//bool CalcPoseSingle( const CStudioHdr *pStudioHdr, Vector pos[], BoneQuaternion q[], mstudioseqdesc_t &seqdesc, int sequence, float cycle, const float poseParameter[], int boneMask, float flTime );
+
+// void CalcBoneAdj( const CStudioHdr *pStudioHdr, Vector pos[], Quaternion q[], const float controllers[], int boneMask );
+
+void BuildBoneChainPartial_PS3(
+	const int *pBoneParent,
+	const matrix3x4a_t &rootxform,
+	const BoneVector pos[], 
+	const BoneQuaternion q[], 
+	int	iBone,
+	matrix3x4a_t *pBoneToWorld,
+	CBoneBitList_PS3 &boneComputed,
+	int iRoot );
+
+struct PS3BoneJobData;
+
+#define BONEJOB_ERROR_EXCEEDEDPQSTACK	(1<<0)
+#define BONEJOB_ERROR_EXCEEDEDMAXCALLS  (1<<1)
+#define BONEJOB_ERROR_LOCALHIER			(1<<2)
+
+#if !defined(__SPU__)
+
+
+class CBoneSetup_PS3
+{
+public:
+
+	CBoneSetup_PS3( const CStudioHdr *pStudioHdr, int boneMask, const float poseParameter[], bonejob_SPU *pBoneJobSPU );
+	
+	void CalcAutoplaySequences_AddPoseCalls( float flRealTime );
+	void AccumulatePose_AddToBoneJob( bonejob_SPU* pSPUJob, int sequence, float cycle, float flWeight, CIKContext *pIKContext, int pqStackLevel );
+
+	int RunAccumulatePoseJobs_PPU( bonejob_SPU *pBoneJob );
+	int RunAccumulatePoseJobs_SPU( bonejob_SPU *pBoneJob, job_accumpose::JobDescriptor_t *pJobDescriptor );
+
+private:
+
+	bool SetAnimData( accumposeentry_SPU *pPoseEntry, const CStudioHdr *pStudioHdr, mstudioseqdesc_t &seqdesc, int sequence, int x, int y, int animIndex, float weight );
+
+	bool CalcPoseSingle( accumposeentry_SPU *pPoseEntry, const CStudioHdr *pStudioHdr, mstudioseqdesc_t &seqdesc, int sequence, float cycle, const float poseParameter[], float flTime );
+
+	int  AddSequenceLayers( bonejob_SPU *pSPUJob, mstudioseqdesc_t &seqdesc, int sequence, float cycle, float flWeight, CIKContext *pIKContext, int pqStackLevel );
+	int  AddLocalLayers( bonejob_SPU *pSPUJob, mstudioseqdesc_t &seqdesc, int sequence, float cycle, float flWeight, CIKContext *pIKContext, int pqStackLevel );
+
+public:
+
+	const CStudioHdr	*m_pStudioHdr;
+	int					m_boneMask;
+	const float			*m_flPoseParameter;
+
+	bonejob_SPU			*m_pBoneJobSPU;
+
+	int					m_errorFlags;		// accpose call failure flags (if so do not run on SPU, could be for a number of reasons, right now => exceeded PQ stack, or an anim uses the local hierarchy path
+};
+
+
+#endif  // #if !defined(__SPU__)
+
+
+
+//-------------------------------------------------------------------------------------------------------------
+// SPU dummy funcs
+//-------------------------------------------------------------------------------------------------------------
+
+#define DMATAG_ANIM_SYNC_BONEMAPWEIGHT	(DMATAG_ANIM+1)
+#define DMATAG_ANIM_SYNC_POSQ			(DMATAG_ANIM+2)
+
+FORCEINLINE void *SPUmemcpy_UnalignedGet( void *ls, uint32 ea, uint32_t size )
+{
+	void *aligned_ls;	
+
+	aligned_ls = (void *)((uint32)ls | (ea & 0xf));	// + 0xf in case ls not 16B aligned
+
+#if defined(__SPU__)
+	//spu_printf("GET ls:0x%x, ea:0x%x, size:%d\n", (uint32_t)aligned_ls, ea, size);
+	// SPU
+	cellDmaUnalignedGet( aligned_ls, ea, size, DMATAG_SYNC, 0, 0 );
+	cellDmaWaitTagStatusAny( 1 << DMATAG_SYNC );
+#else
+	// PPU
+	memcpy( aligned_ls, (void *)ea, size );
+#endif
+
+	return aligned_ls;
+}
+
+
+FORCEINLINE void *SPUmemcpy_UnalignedGet_MustSync( void *ls, uint32 ea, uint32_t size, uint32_t dmatag )
+{
+	void *aligned_ls;	
+
+	aligned_ls = (void *)((uint32)ls | (ea & 0xf));	// + 0xf in case ls not 16B aligned
+
+#if defined(__SPU__)
+	//spu_printf("GET ls:0x%x, ea:0x%x, size:%d\n", (uint32_t)aligned_ls, ea, size);
+	// SPU
+	cellDmaUnalignedGet( aligned_ls, ea, size, dmatag, 0, 0 );
+#else
+	// PPU
+	memcpy( aligned_ls, (void *)ea, size );
+#endif
+
+
+	return aligned_ls;
+}
+
+
+FORCEINLINE void SPUmemcpy_Sync( uint32_t dmatag )
+{
+#if defined(__SPU__)
+//	cellDmaWaitTagStatusAll( 1 << dmatag );
+	cellDmaWaitTagStatusAll( dmatag );
+#endif
+}
+
+
+FORCEINLINE void SPUmemcpy_UnalignedPut( void *ls, uint32 ea, uint32_t size )
+{
+#if defined(__SPU__)
+	//spu_printf("PUT ls:0x%x, ea:0x%x, size:%d\n", (uint32_t)ls, ea, size);
+	// SPU
+	cellDmaUnalignedPut( ls, ea, size, DMATAG_SYNC, 0, 0 );
+	cellDmaWaitTagStatusAny( 1 << DMATAG_SYNC );
+#else
+	Assert(((uint32)ls&0xf) == ea&0xf);
+
+	// PPU
+	memcpy( (void *)ea, ls, size );
+#endif
+}
+
+
+//=============================================================================//
+//
+//
+//
+//
+//
+//=============================================================================//
+#endif

bonesetup/bonesetup.vpc

@@ -0,0 +1,47 @@
+//-----------------------------------------------------------------------------
+//	MATHLIB.VPC
+//
+//	Project Script
+//-----------------------------------------------------------------------------
+
+$macro SRCDIR		".."
+
+$include "$SRCDIR\vpc_scripts\source_lib_base.vpc"
+
+
+$Configuration
+{
+	$Compiler
+	{
+		$AdditionalIncludeDirectories	"$BASE;..\public"
+	}
+}
+
+$Project "bonesetup"
+{
+	$Folder	"Source Files"
+	{
+		$File	"bone_setup_PS3.cpp"	[$PS3]
+		$File	"bone_ik_PS3.cpp"		[$PS3]
+		$File	"bone_utils_PS3.cpp"	[$PS3]
+		$File	"bone_decode_PS3.cpp"	[$PS3]
+		$File	"bone_setup.cpp"
+		$File	"bone_ik.cpp"
+		$File	"bone_utils.cpp"
+		$File	"bone_decode.cpp"
+		$File	"bone_constraints.cpp"
+	}
+
+	$Folder	"Header Files"
+	{
+		$File	"bone_utils.h"
+		$File	"bone_utils_PS3.h"		[$PS3]
+	}
+
+
+	$Folder	"Public Header Files"
+	{
+		$File	"$SRCDIR\public\bone_setup.h"			[$WINDOWS||$POSIX]		
+		$File	"$SRCDIR\public\bone_setup_PS3.h"		[$PS3]		
+	}
+}

bonesetup/bonesetup.vpc.vpc_cache

@@ -0,0 +1,13 @@
+"vpc_cache"
+{
+	"CacheVersion"		"1"
+	"win32"
+	{
+		"CRCFile"		"bonesetup.vcxproj.vpc_crc"
+		"OutputFiles"
+		{
+			"0"		"bonesetup.vcxproj"
+			"1"		"bonesetup.vcxproj.filters"
+		}
+	}
+}

bonesetup/vsi.nul

@@ -0,0 +1,2 @@
+SN Visual Studio Integration
+IMPORTANT: Do not remove the custom build step for this file